US20120078054A1 - Bending mechanism - Google Patents
Bending mechanism Download PDFInfo
- Publication number
- US20120078054A1 US20120078054A1 US13/275,852 US201113275852A US2012078054A1 US 20120078054 A1 US20120078054 A1 US 20120078054A1 US 201113275852 A US201113275852 A US 201113275852A US 2012078054 A1 US2012078054 A1 US 2012078054A1
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- United States
- Prior art keywords
- vertical
- operation wire
- horizontal
- bending
- disposed
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0052—Constructional details of control elements, e.g. handles
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00039—Operational features of endoscopes provided with input arrangements for the user
- A61B1/00042—Operational features of endoscopes provided with input arrangements for the user for mechanical operation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0057—Constructional details of force transmission elements, e.g. control wires
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
- G02B23/2476—Non-optical details, e.g. housings, mountings, supports
Definitions
- the present invention relates to a bending mechanism for bending a bending portion.
- an electric bending endoscope comprises an insertion portion to be inserted into a body cavity, and an operation portion for operating the endoscope.
- the insertion portion comprises a flexible tubular portion which has desired flexibility, a bending portion to be bent, and a distal hard portion.
- the operation portion comprises a bending mechanism for bending the bending portion.
- Jpn. Pat. Appln. KOKAI Publication No. 8-224241 discloses a medical manipulator that allows the simplification of the structure of a driving portion and a reduction in size of the medical manipulator.
- a bending mechanism of this medical manipulator comprises an operation wire connected to a bending portion, a pulley around which the operation wire is wound, and the driving portion such as a motor connected to the pulley.
- the driving portion uses its driving force to wind the pulley and pull the operation wire, thereby bending the bending portion.
- a bending mechanism which is disposed in a base plate and which vertically and horizontally bends a bending portion disposed in an insertion portion to be inserted into a body cavity, the bending mechanism comprising: a vertical driving portion which generates a vertical driving force to vertically bend the bending portion and which is disposed in a front surface of the base plate so that a central axis of the vertical driving, portion extends along the longitudinal direction of the insertion portion; a horizontal driving portion which generates a horizontal driving force to horizontally bend the bending portion and which is disposed in the front surface so that a central axis of the horizontal driving portion extends along the longitudinal direction and is adjacent to the vertical driving portion in a perpendicular direction perpendicular to the longitudinal direction; a vertical rotary portion which is coupled to the vertical driving portion and which is rotated by the vertical driving force and which is disposed on the side of the front surface; a horizontal rotary portion which is coupled to the horizontal driving portion and which is rotated by the horizontal driving
- a bending mechanism which is disposed in a base plate and which bends a bending portion disposed in an insertion portion to be inserted into a body cavity, the bending mechanism comprising: a driving portion which generates a driving force to bend the bending portion and which is disposed in a front surface of the base plate so that a central axis of the driving portion extends along the longitudinal direction of the insertion portion; a rotary portion which is coupled to the driving portion and which is rotated by the driving force and which is disposed on the side of the front surface; an operation wire, the operation wire being wound around the rotary portion, extending toward a rear surface of the base plate from the rotary portion, being disposed along the longitudinal direction in the rear surface, being connected to the bending portion, the operation wire pulling the bending portion and bending the bending portion when the rotary portion is rotated by the driving force; and a holding portion which holds the operation wire extending from the rotary portion so that one end of the operation wire and the other end thereof intersect
- FIG. 1 is a perspective view of an electric bending endoscope according to an embodiment
- FIG. 2 is a perspective view of a base plate
- FIG. 3 is a perspective view of a bending mechanism on the side of a driving portion when the bending mechanism is disposed on the base plate;
- FIG. 4 is a perspective view of a grip portion on the side of operation wires when the bending mechanism is disposed on the base plate;
- FIG. 5 is a perspective view of the grip portion on the side of the operation wires when the bending mechanism is disposed on the base plate;
- FIG. 6 is a perspective view of the bending mechanism around a holding portion
- FIG. 7 is a front view of FIG. 6 ;
- FIG. 8 is a top view of FIG. 6 ;
- FIG. 9 is a perspective view of the bending mechanism from the front side
- FIG. 10 is a perspective view of a rotary portion around which the operation wire is wound
- FIG. 11 is a perspective view when FIG. 10 is viewed from a different angle
- FIG. 12 is a view showing the operation wire to be wound around the rotary portion
- FIG. 13 is a view showing the relation between a length L 3 , a length L 4 , a bending radius R 3 , and a bending radius R 4 ;
- FIG. 14 is a view illustrating the configuration of one end of the operation wire
- FIG. 15 is a perspective view illustrating the rear configuration of the base plate
- FIG. 16 is a view illustrating the configuration of both ends of the operation wire
- FIG. 17 is a sectional view of a coupling member
- FIG. 18 is a perspective view of an electric bending sheath
- FIG. 19 is a view showing indexes in a treatment portion and a distal hard portion
- FIG. 20 is a perspective view of the treatment portion (high-frequency knife).
- FIG. 21 is a perspective view showing how to grip the electric bending sheath to operate an endoscopic treatment tool.
- FIG. 22 is a perspective view of the electric bending endoscope in which a bending operation portion is a joystick.
- some components are not shown in some of the drawings.
- operation wires 400 U, 400 D, 400 R, and 400 L are not shown in FIG. 4 .
- the longitudinal direction of an insertion portion 10 , the longitudinal direction of a grip portion 33 , the longitudinal direction of a base plate 51 , the longitudinal direction of the operation wires 300 UD, 300 LR, 400 U, 400 D, 400 R, and 400 L, the axial direction of a driving portion 83 , and the axial direction of a rotary portion 85 are in an X-axis direction.
- a direction perpendicular to the X-axis direction, the width direction of the grip portion 33 , and the width direction of the base plate 51 are in a Y-axis direction.
- a direction perpendicular to the X-axis direction and the Y-axis direction is a Z-axis direction.
- an electric bending endoscope 1 (hereinafter referred to as an endoscope 1 ) according to the present embodiment comprises an insertion portion 10 to be inserted into a body cavity, and an operation portion 30 which is coupled to the proximal end of the insertion portion 10 and which operates the endoscope 1 .
- the insertion portion 10 comprises, from its distal end to its proximal end, a distal hard portion 11 , a bending portion 13 , and a flexible tubular portion 15 .
- the proximal end of the distal hard portion 11 is coupled to the distal end of the bending portion 13 .
- the proximal end of the bending portion 13 is coupled to the distal end of the flexible tubular portion 15 .
- the distal hard portion 11 is the distal end of the insertion portion 10 , and is hard.
- the bending portion 13 is bent in desired directions, for example, vertically and horizontally in accordance with the operation of a later-described bending operation portion 33 c .
- the bending portion 13 is bent so that the position and direction of the distal hard portion 11 are changed, an observation target is taken into an observation view field, and illumination light is applied to the observation target.
- the bending portion 13 is connected to the later-described operation wires 400 U, 400 D, 400 L, and 400 R which extend through the flexible tubular portion 15 .
- the flexible tubular portion 15 has desired flexibility, and is bent by external force.
- the flexible tubular portion 15 is a tubular member that extends from a body 31 of the operation portion 30 .
- the operation portion 30 comprises the body 31 from which the flexible tubular portion 15 extends, the grip portion 33 which is coupled to the proximal end of the body 31 and which is gripped by an operator who operates the endoscope 1 , and a universal cord 35 connected to the grip portion 33 .
- a treatment tool insertion hole 31 a is provided in the body 31 .
- the treatment tool insertion hole 31 a is coupled to the proximal end of a treatment tool insertion channel 31 b .
- the treatment tool insertion channel 31 b is provided to extend from the flexible tubular portion 15 to the distal hard portion 11 .
- the treatment tool insertion hole 31 a is an insertion hole for inserting an unshown endoscopic treatment tool into the treatment tool insertion channel 31 b .
- the unshown endoscopic treatment tool is inserted into the treatment tool insertion channel 31 b from the treatment tool insertion hole 31 a , and pushed into the side of the distal hard portion 11 .
- the endoscopic treatment tool is then projected from a distal opening 31 c of the treatment tool insertion channel 31 b provided in the distal hard portion 11 .
- the universal cord 35 has a connection portion 35 a connected to, for example, an unshown video processor or light source unit.
- a proximal end 33 b of the grip portion 33 is provided with the bending operation portion 33 c for vertically and horizontally bending the bending portion 13 .
- the bending operation portion 33 c is a switch such as a TACT switch (registered trademark).
- the grip portion 33 is tapered toward the distal end.
- the grip portion 33 comprises the base plate 51 shown in FIG. 2 , and a cover portion 53 shown in FIG. 1 covering the base plate 51 .
- the body 31 is disposed at a distal end 51 a of the base plate 51 .
- the bending operation portion 33 c is disposed at a proximal end 51 b of the base plate 51 .
- the base plate 51 is, for example, a bottom board metal. As shown in FIG. 2 , both sides of the base plate 51 are folded in the Z-axis direction from an XY plane, and the base plate 51 is recessed in section in the Y-axis direction. The proximal end 51 b of the base plate 51 is also folded in the Z-axis direction in the same manner as the both sides. That is, the base plate 51 comprises a bottom plate 55 , side plates 57 standing from the bottom plate 55 and integrated with the bottom plate 55 , and an upper plate 59 standing from the bottom plate 55 and integrated with the bottom plate 55 . As shown in FIG.
- the surface of the bottom plate 55 where the side plates 57 and the upper plate 59 stand is a front surface 51 c of the base plate 51 .
- the surface of the bottom plate 55 opposite to the front surface 51 c is a rear surface 51 d of the base plate 51 .
- proximal ends 57 b of the side plates 57 extend toward the proximal end 33 b of the grip portion 33 than a proximal end 55 b of the bottom plate 55 , that is, from the upper plate 59 , and project from the proximal end 55 b of the bottom plate 55 .
- the side plate 57 is thicker at its proximal end 57 b than at its distal end 57 a , and a step is formed between the proximal end 57 b of the side plate 57 and the distal end 57 a thereof.
- the upper plate 59 is provided in a space between the proximal ends 57 b side of the side plates 57 in the Y-axis direction.
- the upper plate 59 has a contact surface 59 c with which a later-described reinforcing member 71 comes into contact.
- the bottom plate 55 has, in a distal end 55 a (distal end 51 a ) of the bottom plate 55 , a pair of protrusions 61 that protrude from the distal end 55 a toward the insertion portion 10 .
- the protrusions 61 are integrated with the bottom plate 55 .
- a part of the distal end 55 a extends toward the insertion portion 10 so that the protrusions 61 are formed.
- the distal end 55 a of the bottom plate 55 is recessed by the formation of the protrusions 61 .
- An opening 61 a which is open toward the insertion portion 10 is provided at the distal end 55 a .
- the bottom plate 55 including the protrusions 61 is elastically deformable.
- a wall portion 63 is provided in the protrusions 61 .
- the wall portion 63 is U-shaped so that a end 63 c of the wall portion 63 contacts each of the pair of protrusions 61 .
- a groove 63 d is formed in the wall portion 63 .
- the end 63 c of the wall portion 63 is fixed to each of the protrusions 61 by a fixing member 65 , for example, a screw on the side of the rear surface 51 d.
- a substantially cylindrical coupling member 67 which couples the grip portion 33 to the body 31 is fitted in the U-shaped wall portion 63 , in other words, the groove 63 d or the end 63 c .
- a proximal end 67 b of the coupling member 67 is fitted in the wall portion 63 , and is fixed to the wall portion 63 by the fixing member 65 , for example, a screw.
- a distal end 67 a of the coupling member 67 is fitted in the body 31 , and is fixed to the body 31 by a fixing member, for example, a screw.
- the coupling member 67 couples the grip portion 33 to the body 31 .
- the substantially cylindrical coupling member 67 has a cut-out 67 d cut toward the rear surface 51 d .
- the cut-out 67 d is provided to extend from the proximal end 67 b of the coupling member 67 to the distal end 67 a of the coupling member 67 .
- the cut-out 67 d is in communication with the opening 61 a disposed between the protrusions 61 .
- the width of the cut-out 67 d is substantially equal to the width of the opening 61 a , that is, the distance between the protrusions 61 .
- the length of the cut-out 67 d is greater than the length of the opening 61 a , that is, the length of the protrusion 61 .
- a recessed cut-out 63 f is formed in an upper surface 63 e of the wall portion 63 .
- the cut-out 63 f is open toward a proximal end 63 b of the wall portion 63 .
- the inner surface of the cut-out 63 f is formed as a contact surface 63 g with which the reinforcing member 71 comes into contact.
- the contact surface 63 g is collinear with the contact surface 59 c in the X-axis direction.
- the reinforcing member 71 in the shape of a single long plate is disposed between the contact surface 59 c and the contact surface 63 g .
- the reinforcing member 71 is disposed along the X-axis direction to contact the contact surface 59 c and the contact surface 63 g .
- the reinforcing member 71 reinforces the strength of the base plate 51 , and warps the base plate 51 .
- a length L 1 of the reinforcing member 71 is slightly greater than a length L 2 between the contact surface 59 c and the contact surface 63 g .
- the base plate 51 warps (curves) in the direction of an arrow A to change from L 2 to L 1 as shown in FIG. 2 such that the reinforcing member 71 is fitted into the space between the contact surface 59 c and the contact surface 63 g.
- L 1 is slightly greater than L 2 .
- the base plate 51 warps in the direction of the arrow, so that the reinforcing member 71 is fitted into the space between the contact surface 59 c and the contact surface 63 g.
- the base plate 51 is adapted to the shape of the grip portion 33 as a result of the warping.
- a support member 73 which supports the reinforcing member 71 and the wall portion 63 is disposed in the reinforcing member 71 .
- the support member 73 is fixed to the reinforcing member 71 by the fixing member 65 , for example, a screw, and further fixed to the wall portion 63 by the fixing member 65 , for example, a screw.
- the grip portion 33 has a bending mechanism 81 which is disposed in the base plate 51 and which vertically and horizontally bends the bending portion 13 .
- the bending mechanism 81 is covered with the cover portion 53 together with the base plate 51 , and vertically and horizontally bends the bending portion 13 in conjunction with the operation of the bending operation portion 33 c.
- the bending mechanism 81 comprises the driving portion 83 which generates a driving force to bend the bending portion 13 , and the rotary portion 85 which is coupled to the driving portion 83 and which is rotated by the driving force generated from the driving portion 83 .
- the bending mechanism 81 also comprises operation wires 500 UD and 500 LR.
- the operation wires 500 UD and 500 LR are wound around the rotary portion 85 , extend from the rotary portion 85 toward the rear surface 51 d , are provided in the rear surface 51 d along the X-axis direction, are connected to the bending portion 13 , and pull the bending portion 13 and bend the bending portion 13 when the rotary portion 85 is rotated by the driving force.
- the driving portion 83 is disposed in the front surface 51 c .
- the driving portion 83 is surrounded by the upper plate 59 , the side plates 57 , the wall portion 63 , and the reinforcing member 71 which prevent the driving portion 83 from dropping from the base plate 51 .
- the driving portion 83 comprises a vertical driving portion 83 UD and a horizontal driving portion 83 LR.
- the vertical driving portion 83 UD generates a vertical driving force to vertically bend the bending portion 13 .
- the vertical driving portion 83 UD is disposed in the front surface 51 c of the base plate 51 so that a driving shaft 83 c (central axis) of the vertical driving portion 83 UD extends along the X-axis direction (the longitudinal direction of the insertion portion 10 ).
- the horizontal driving portion 83 LR generates a horizontal driving force to horizontally bend the bending portion 13 .
- the horizontal driving portion 83 LR is disposed in the front surface 51 c so that the driving shaft 83 c (central axis) of the horizontal driving portion 83 LR extends along the X-axis direction (the longitudinal direction of the insertion portion 10 ) and is adjacent to the vertical driving portion 83 UD in the Y-axis direction.
- the vertical driving portion 83 UD and the horizontal driving portion 83 LR are disposed symmetrically with respect to the central axis of the grip portion 33 .
- the axial direction of the driving shaft 83 c is the axial direction of the driving portion 83 , the axial direction of the rotary portion 85 , and the longitudinal direction of the insertion portion 10 . These directions are in the same direction.
- the vertical driving portion 83 UD and the horizontal driving portion 83 LR have the same structure and shape, and therefore, the vertical driving portion 83 UD is described by way of example with reference to FIG. 3 and FIG. 6 .
- the vertical driving portion 83 UD is cylindrical.
- the vertical driving portion 83 UD is, for example, an actuator having a motor, a gear, and a position sensor.
- the rotary portion 85 is disposed on the side of the front surface 51 c .
- the rotary portion 85 is disposed closer to the proximal end 33 b of the grip portion 33 than the upper plate 59 , and protrudes from the upper plate 59 .
- the rotary portion 85 comprises a vertical rotary portion 85 UD and a horizontal rotary portion 85 LR.
- the vertical rotary portion 85 UD is coupled to the driving shaft 83 c of the vertical driving portion 83 UD, and is rotated by a vertical driving force generated from the vertical driving portion 83 UD.
- the vertical rotary portion 85 UD is disposed on the side of the front surface 51 c.
- the horizontal rotary portion 85 LR is coupled to the driving shaft 83 c of the horizontal driving portion 83 LR, and is rotated by a horizontal driving force generated from the horizontal driving portion 83 LR.
- the horizontal rotary portion 85 LR is disposed on the side of the front surface 51 c to be adjacent to the vertical rotary portion 85 UD in the Y-axis direction.
- the operation wire 300 UD which is a vertical operation wire on the side of the grip portion 33 to vertically bend the bending portion 13 , is wound around the vertical rotary portion 85 UD.
- the operation wire 300 UD is provided in the grip portion 33 , and extends toward the rear surface 51 d from the vertical rotary portion 85 UD via the proximal end 55 b of the bottom plate 55 .
- the operation wire 300 UD is disposed in the rear surface 51 d along the X-axis direction. As shown in FIG.
- the operation wire 400 U which is an upward operation wire on the side of the insertion portion 10 to bend the bending portion 13 upward, is coupled to one end 300 U of the operation wire 300 UD on the side of the rear surface 51 d .
- the operation wire 400 D which is a downward operation wire on the side of the insertion portion 10 to bend the bending portion 13 downward, is coupled to the other end 300 D of the operation wire 300 UD on the side of the rear surface 51 d .
- the operation wire 400 U and the operation wire 400 D are inserted through the insertion portion 10 , and are connected to the bending portion 13 .
- the operation wire 300 UD, the operation wire 400 U, and the operation wire 400 D serve as the vertical operation wire 500 UD to vertically bend the bending portion 13 .
- the vertical operation wire 500 UD is wound around the vertical rotary portion 85 UD, extends toward the rear surface 51 d of the base plate 51 from the vertical rotary portion 85 UD, is disposed along the longitudinal direction in the rear surface 51 d , and is connected to the bending portion 13 .
- the vertical operation wire 500 UD then pulls the bending portion 13 and vertically bends the bending portion 13 when the vertical rotary portion 85 UD is rotated by the vertical driving force.
- the operation wire 300 LR which is a horizontal operation wire on the side of the grip portion 33 to horizontally bend the bending portion 13 , is wound around the horizontal rotary portion 85 LR.
- the operation wire 300 LR is disposed in the grip portion 33 , and extends toward the rear surface 51 d from the horizontal rotary portion 85 LR via the proximal end of the bottom plate 55 .
- the operation wire 300 LR is disposed in the rear surface 51 d along the X-axis direction. As shown in FIG.
- the operation wire 400 L which is a leftward operation wire on the side of the insertion portion 10 to bend the bending portion 13 leftward, is coupled to one end 300 L of the operation wire 300 LR on the side of the rear surface 51 d .
- the operation wire 400 R which is a rightward operation wire on the side of the insertion portion 10 to bend the bending portion 13 rightward, is coupled to the other end 300 R of the operation wire 300 LR on the side of the rear surface 51 d .
- the operation wire 400 L and the operation wire 400 R are inserted through the insertion portion 10 , and are connected to the bending portion 13 .
- the operation wire 300 LR, the operation wire 400 L, and the operation wire 400 R serve as the horizontal operation wire 500 LR to horizontally bend the bending portion 13 .
- the horizontal operation wire 500 LR is wound around the horizontal rotary portion 85 LR, extends toward the rear surface 51 d of the base plate 51 from the horizontal rotary portion 85 LR, is disposed along the longitudinal direction in the rear surface 51 d , and is connected to the bending portion 13 .
- the horizontal operation wire 500 LR then pulls the bending portion 13 and horizontally bends the bending portion 13 when the horizontal rotary portion 85 LR is rotated by the horizontal driving force.
- the vertical rotary portion 85 UD and the horizontal rotary portion 85 LR are described here.
- the vertical rotary portion 85 UD is disposed closer to the proximal end 33 b of the grip portion 33 than the vertical driving portion 83 UD
- the horizontal rotary portion 85 LR is disposed closer to the proximal end 33 b of the grip portion 33 than the horizontal driving portion 83 LR.
- the vertical rotary portion 85 UD and the horizontal rotary portion 85 LR are symmetrical with respect to the central axis of the grip portion 33 .
- the central axis of the vertical rotary portion 85 UD and the central axis of the horizontal rotary portion 85 LR are disposed along the X-axis direction.
- the central axis of the vertical rotary portion 85 UD is coaxial with the central axis (driving shaft 83 c ) of the vertical driving portion 83 UD.
- the central axis of the horizontal rotary portion 85 LR is coaxial with the central axis (driving shaft 83 c ) of the horizontal driving portion 83 LR.
- the vertical rotary portion 85 UD and the horizontal rotary portion 85 LR have the same structure and shape, and therefore, the structure of the vertical rotary portion 85 UD is described by way of example with reference to FIG. 6 , FIG. 7 , FIG. 8 , FIG. 9 , and FIG. 10 .
- a spiral groove 853 e shown in FIG. 7 and the operation wire 300 UD wound around the groove 853 e more than once as shown in FIG. 7 are not shown for the simplification of the drawings.
- the vertical rotary portion 85 UD comprises a vertical bearing 851 UD into which the driving shaft 83 c of the vertical driving portion 83 UD is fitted, and a vertical winding portion 853 UD which is formed to be integrated with the vertical bearing 851 UD and which is greater in diameter than the vertical bearing 851 UD and the vertical driving portion 83 UD and around which the vertical operation wire 500 UD is wound.
- the bearing in the horizontal rotary portion 85 LR is a horizontal bearing 851 LR, and the winding portion is shown as a horizontal winding portion 853 LR.
- the horizontal operation wire 500 LR is wound around the horizontal winding portion 853 LR.
- the horizontal bearing 851 LR has the same structure as the vertical bearing 851 UD, and the horizontal winding portion 853 LR has the same structure as the vertical winding portion 853 UD.
- the vertical bearing 851 UD is cylindrical, and has a bore 851 a into which the driving shaft 83 c of the vertical driving portion 83 UD is fitted.
- the vertical bearing 851 UD serves as a boss.
- the vertical bearing 851 UD is higher than the vertical winding portion 853 UD.
- the vertical winding portion 853 UD is substantially ring-shaped, and is greater in outside diameter than the vertical driving portion 83 UD.
- a bottom surface 853 a is provided in one end face of the vertical winding portion 853 UD.
- the vertical bearing 851 UD stands in the bottom surface 853 a .
- a bore 853 c through which the driving shaft 83 c passes and which is coaxial with the bore 851 a is provided in the bottom surface 853 a .
- the vertical winding portion 853 UD is coaxial with the vertical bearing 851 UD.
- a peripheral wall 853 b of the vertical winding portion 853 UD surrounds the vertical bearing 851 UD. Therefore, a space 855 is formed between the peripheral wall 853 b and the vertical bearing 851 UD.
- the operation wire 300 UD is disposed in the space 855 .
- the spiral groove 853 e in which the operation wire 300 UD is disposed is formed in an outer peripheral surface 853 d of the peripheral wall 853 b .
- the groove 853 e is shown in a simplified form.
- the spiral groove 853 e is, for example, a thread groove.
- the groove 853 e prevents the operation wire 300 UD from being piled up on the outer peripheral surface 853 d in the Z-axis direction and the X-axis direction.
- Such a vertical winding portion 853 UD is, for example, a pulley.
- an opening 853 g with which the space 855 is in communication and through which the operation wire 300 UD can be inserted toward the space 855 is formed in the groove 853 e .
- a curved surface 853 h is formed in the opening 853 g on the side of the groove 853 e to reduce the abrasion of the operation wire 300 UD caused by friction with the groove 853 e.
- a fixing mechanism 857 is disposed in the space 855 to fix, to the vertical bearing 851 UD, the operation wire 300 UD which is inserted through the opening 853 g and which is disposed in the space 855 .
- the fixing mechanism 857 is, for example, a clamp. More specifically, the fixing mechanism 857 comprises a plate 857 a disposed in the space 855 , and a fixing member 857 b , for example, a screw for fixing the plate 857 a to the vertical bearing 851 UD.
- the fixing member 857 b fixes the plate 857 a to the vertical bearing 851 UD.
- the operation wire 300 UD held between the plate 857 a and the vertical bearing 851 UD is fixed.
- the fixing mechanism 857 is disposed to be symmetrical to the opening 853 g with respect to the vertical bearing 851 UD.
- the operation wire 300 UD is fixed not by, for example, solder but by the fixing mechanism 857 , and is therefore easily replaced.
- one of the vertical winding portion 853 UD and the horizontal winding portion 853 LR is disposed closer to the driving portion 83 (the distal end side of the insertion portion 10 ) than the other so that a part 853 UDa of the vertical winding portion 853 UD and a part 853 LRa of the horizontal winding portion 853 LR overlap each other in the X-axis direction. Therefore, in the X-axis direction, for example, the vertical bearing 851 UD is disposed closer to the vertical driving portion 83 UD than the vertical winding portion 853 UD, and the horizontal winding portion 853 LR is disposed closer to the horizontal driving portion 83 LR than the horizontal bearing 851 LR. Thus, the width of the bending mechanism 81 in the Y-axis direction is reduced, so that the bending mechanism 81 is reduced in size.
- the vertical winding portion 853 UD is adjacent to the horizontal bearing 851 LR in the Y-axis direction.
- the horizontal bearing 851 LR prevents the operation wire 300 UD wound around the vertical winding portion 853 UD from dropping from the groove 853 e , and the horizontal bearing 851 LR functions as a guide for the operation wire 300 UD.
- the horizontal winding portion 853 LR is adjacent to the vertical bearing 851 UD in the Y-axis direction.
- the vertical bearing 851 UD prevents the operation wire 300 LR wound around the horizontal winding portion 853 LR from dropping from the groove 853 e , and the vertical bearing 851 UD functions as a guide for the operation wire 300 LR.
- FIG. 10 a method of winding the operation wire 300 UD around the vertical rotary portion 85 UD is described with reference to FIG. 10 , FIG. 11 , and FIG. 12 .
- a loop 301 is formed in the linear operation wire 300 UD.
- the loop 301 is inserted through the opening 853 g toward the space 855 from the outside of the vertical winding portion 853 UD, and hooked to the vertical bearing 851 UD to surround the vertical bearing 851 UD, as shown in FIG. 10 and FIG. 11 .
- one end 300 U of the operation wire 300 UD located on the right of the vertical bearing 851 UD and the other end 300 D of the operation wire 300 UD located on the left of the vertical bearing 851 UD are removed from the opening 853 g .
- FIG. 10 one end 300 U of the operation wire 300 UD located on the right of the vertical bearing 851 UD and the other end 300 D of the operation wire 300 UD located on the left of the vertical bearing 851 UD are removed from the opening 853 g .
- FIG. 10 one end 300 U of the operation wire 300 UD located on the right of the vertical bearing 851 UD and the other end 300 D of the operation wire 300 UD located on the left of
- one end 300 U is fitted into the groove 853 e to contact the left curved surface 853 h of the opening 853 g .
- the other end 300 D is fitted into the groove 853 e to contact the right curved surface 853 h of the opening 853 g.
- the operation wire 300 UD is wound in an l-shape ( ⁇ -shape) in the vertical bearing 851 UD and the vertical winding portion 853 UD. That is, the operation wire 300 UD inserted into the opening 853 g is wound around the vertical bearing 851 UD and then removed from the opening 853 g in a direction that intersects with the insertion direction. That is, the operation wire 300 UD inserted into the opening 853 g and the operation wire 300 UD removed from the opening 853 g intersect with each other around the opening 853 g.
- the operation wire 300 UD is not wound in an ⁇ -shape around the vertical bearing 851 UD and the vertical winding portion 853 UD. This prevents the operation wire 300 UD from bending at an acute angle in the opening 853 g , and prevents stress from concentrating on the edge of the opening 853 g . As the curved surface 853 h is formed, the abrasion of the operation wire 300 UD is reduced.
- the loop 301 is formed so that a wire nozzle 151 , an urging member 153 , a coupling member 155 , and a drop prevention member 157 that will be described later are disposed in the operation wire 300 UD in advance, and the operation wire 300 UD is wound.
- the operation wire 300 UD is fixed to the vertical bearing 851 UD by the fixing mechanism 857 .
- the operation wire 300 UD is then extended to the rear surface 51 d side from the vertical rotary portion 85 UD via the proximal end 55 b of the bottom plate 55 .
- a method of winding the operation wire 300 LR around the horizontal rotary portion 85 LR is similar to the above-described method of winding the operation wire 300 UD.
- the operation wire 300 LR is extended to the rear surface 51 d side from the horizontal rotary portion 85 LR via the proximal end 55 b of the bottom plate 55 in the same manner as the operation wire 300 UD.
- the bending mechanism 81 comprises a holding portion 101 which holds the operation wire 300 UD extending to the rear surface 51 d from the vertical rotary portion 85 UD and the operation wire 300 LR extending to the rear surface 51 d from the horizontal rotary portion 85 LR.
- the holding portion 101 is disposed on the upper plate 59 .
- the holding portion 101 holds the operation wire 300 UD and the operation wire 300 LR so that the operation wire 300 UD extends from the vertical rotary portion 85 UD to the rear surface 51 d on the side where the horizontal rotary portion 85 LR is disposed and so that the operation wire 300 LR extends from the horizontal rotary portion 85 LR to the rear surface 51 d on the side of the vertical rotary portion 85 UD and further intersects with the vertical operation wire 500 UD.
- the operation wire 300 UD is not extended to the rear surface 51 d from the vertical rotary portion 85 UD along the Z-axis direction, and is not extended to the rear surface 51 d where the vertical driving portion 83 UD is disposed.
- the operation wire 300 UD in the rear surface 51 d is not adjacent to the vertical driving portion 83 UD via the bottom plate 55 in the Z-axis direction.
- the holding portion 101 holds the operation wire 300 UD so that the operation wire 300 UD extends from the vertical winding portion 853 UD in a direction tilted in the Z(Y)-axis direction and so that the operation wire 300 UD extends to the rear surface 51 d where the horizontal driving portion 83 LR is disposed. That is, the holding portion 101 holds the operation wire 300 UD so that the operation wire 300 UD in the rear surface 51 d is adjacent to the horizontal driving portion 83 LR via the bottom plate 55 in the Z-axis direction.
- the operation wire 300 LR is not extended to the rear surface 51 d from the horizontal winding portion 853 LR along the Z-axis direction, and is not extended to the rear surface 51 d where the horizontal driving portion 83 LR is disposed.
- the operation wire 300 LR in the rear surface 51 d is not adjacent to the horizontal driving portion 83 LR via the bottom plate 55 in the Z-axis direction.
- the holding portion 101 holds the operation wire 300 UD so that the operation wire 300 LR extends from the horizontal winding portion 853 LR in a direction tilted in the Z(Y)-axis direction and so that the operation wire 300 LR extends to the rear surface 51 d where the vertical driving portion 83 UD is disposed. That is, the holding portion 101 holds the operation wire 300 LR so that the operation wire 300 LR in the rear surface 51 d is adjacent to the vertical driving portion 83 UD via the bottom plate 55 in the Z-axis direction.
- the holding portion 101 holds the operation wire 300 UD and the operation wire 300 LR so that the operation wire 300 UD extending to the rear surface 51 d from the vertical winding portion 853 UD as described above intersects on the upper plate 59 with the operation wire 300 LR extending to the rear surface 51 d from the horizontal winding portion 853 LR as described above. That is, the operation wire 300 UD and the operation wire 300 LR intersect with each other in the holding portion 101 .
- the holding portion 101 holds the operation wire 300 UD and the operation wire 300 LR so that the extending direction of the operation wire 300 UD extending from the vertical winding portion 853 UD and the extending direction of the operation wire 400 LD extending from the horizontal winding portion 853 LR are tilted with respect to the Y-axis direction.
- the longitudinal direction of the operation wire 300 UD on the side of the rear surface 51 d and the axial direction of the horizontal driving portion 83 LR are symmetrical on the Z-axis to the longitudinal direction of the operation wire 300 LR on the side of the rear surface 51 d and the axial direction of the vertical driving portion 83 UD.
- L 3 indicates the length of the bent operation wire 300 UD from the vertical winding portion 853 UD to the rear surface 51 d when the operation wire 300 UD is extended to the rear surface 51 d from the vertical winding portion 853 UD along the Z-axis direction.
- L 4 indicates the length of the bent operation wire 300 UD from the vertical winding portion 853 UD to the rear surface 51 d when the operation wire 300 UD is extended from the vertical winding portion 853 UD in a direction tilted in the Z(Y)-axis direction as in the present embodiment.
- the length L 4 is longer than the length L 3 , and a bending radius R 4 in the length L 4 is greater than a bending radius R 3 in the length L 3 .
- the burden on the operation wire 300 UD when the operation wire 300 UD is pulled in the case of the length L 4 is less than the burden on the operation wire 300 UD when the operation wire 300 UD is pulled in the case of the length L 3 .
- the holding portion 101 holds the operation wire 300 UD as described above. This holds true for the operation wire 300 LR.
- the holding portion 101 comprises a vertical regulation portion 103 UD, a vertical guide portion 105 UD, a horizontal regulation portion 103 LR, a horizontal guide portion 105 LR, and a support member 107 .
- the vertical regulation portion 103 UD regulates the extending direction of the operation wire 300 UD so that the operation wire 300 UD extends from the vertical winding portion 853 UD in the tangential direction of the vertical winding portion 853 UD tilted with respect to the Y-axis direction.
- the vertical regulation portion 103 UD is, for example, a cylindrical wire nozzle through which the operation wire 300 UD is inserted.
- the operation wire 300 UD regulated by the vertical regulation portion 103 UD is inserted through the vertical guide portion 105 UD.
- the vertical guide portion 105 UD prevents interference between the operation wire 300 UD and other components such as the operation wire 300 LR.
- the vertical guide portion 105 UD guides the operation wire 300 UD so that the operation wire 300 UD extends from the vertical winding portion 853 UD to the rear surface 51 d on the side of the horizontal rotary portion 85 LR.
- the vertical guide portion 105 UD is bent toward the XY plane, for example, from a YZ plane.
- the vertical guide portion 105 UD bends the operation wire 300 UD so that the operation wire 300 UD extended from the vertical winding portion 853 UD and disposed in the YZ plane is disposed in the XY plane toward the rear surface 51 d.
- the vertical guide portion 105 UD is, for example, a guide tube.
- the vertical guide portion 105 UD is made of a bendable soft material. If the vertical guide portion 105 UD is made of a hard material, the vertical guide portion 105 UD is difficult to process and is thus costly. Moreover, the hard material causes trouble in the insertion of the operation wire 300 UD, regulates the bending direction of the operation wire 300 UD, and reduces the degree of freedom. However, if the vertical guide portion 105 UD is made of a soft material, the operation wire 300 UD can bend even after being inserted through the vertical guide portion 105 UD. Thus, the vertical guide portion 105 UD can increase the degree of freedom in the bending direction of the operation wire 300 UD.
- the vertical guide portion 105 UD is disposed between the vertical regulation portion 103 UD and the wire nozzle 151 which is held by a later-described holding member 161 .
- the vertical guide portion 105 UD may be movable in the axial direction of the operation wire 300 UD or may be fixed to the vertical regulation portion 103 UD.
- the vertical regulation portion 103 UD and the vertical guide portion 105 UD are provided for one end 300 U of the operation wire 300 UD and the other end 300 D of the operation wire 300 UD, respectively.
- the horizontal regulation portion 103 LR regulates the extending direction of the operation wire 300 LR so that the operation wire 300 LR extends from the horizontal winding portion 853 LR in the tangential direction of the horizontal winding portion 853 LR tilted with respect to the Y-axis direction.
- the horizontal regulation portion 103 LR is, for example, a cylindrical wire nozzle through which the operation wire 300 LR is inserted.
- the operation wire 300 LR regulated by the horizontal regulation portion 103 LR is inserted through the horizontal guide portion 105 LR.
- the horizontal guide portion 105 LR prevents interference between the operation wire 300 LR and other components such as the operation wire 300 UD.
- the horizontal guide portion 105 LR guides the operation wire 300 LR so that the operation wire 300 LR extends from the horizontal winding portion 853 LR to the rear surface 51 d on the side of the vertical rotary portion 85 UD and intersects with the operation wire 300 UD.
- the horizontal guide portion 105 LR is bent toward the XY plane, for example, from the YZ plane.
- the horizontal guide portion 105 LR bends the operation wire 300 LR so that the operation wire 300 LR extended from the horizontal winding portion 853 LR and disposed in the YZ plane is disposed in the XY plane toward the rear surface 51 d.
- the horizontal guide portion 105 LR is, for example, a guide tube.
- the horizontal guide portion 105 LR is made of a bendable soft material in the same manner as the vertical guide portion 105 UD.
- the horizontal guide portion 105 LR is disposed between the horizontal regulation portion 103 LR and the wire nozzle 151 which is held by the later-described holding member 161 .
- the horizontal guide portion 105 LR may be movable in the axial direction of the operation wire 300 LR or may be fixed to the horizontal regulation portion 103 LR.
- the horizontal regulation portion 103 LR and the horizontal guide portion 105 LR are provided for one end 300 L of the operation wire 300 LR and the other end 300 R of the operation wire 300 LR, respectively.
- the support member 107 supports the vertical regulation portion 103 UD and the horizontal regulation portion 103 LR so that the vertical regulation portion 103 UD and the horizontal regulation portion 103 LR are located in the vicinity of the vertical winding portion 853 UD and the horizontal winding portion 853 LR.
- the support member 107 is fixed to the upper plate 59 .
- the side of a proximal end 83 b of the driving portion 83 , the rotary portion 85 , the holding portion 101 , and the side of the proximal end 51 b of the base plate 51 including the upper plate 59 are surrounded by a peripheral wall member 121 which is a first flange member.
- a second flange member 123 is disposed on an upper surface 121 a of the peripheral wall member 121 .
- the second flange member 123 has a wall portion 123 a which is fitted into the peripheral wall member 121 as shown in FIG. 9 when the second flange member 123 is disposed on the upper surface 121 a .
- the wall portion 123 a adjoins the groove 853 e , and functions as a prevention wall for preventing the operation wire 300 UD from dropping from the vertical winding portion 853 UD and preventing the operation wire 300 LR from dropping from the horizontal winding portion 853 LR.
- the operation wire 300 UD and the operation wire 300 LR in the rear surface 51 d are described with reference to FIG. 14 , FIG. 15 , and FIG. 16 .
- the operation wire 300 UD and the operation wire 300 LR have the same structure, the operation wire 300 UD is described by way of example.
- the wire nozzle 151 , the urging member 153 , the coupling member 155 , and the drop prevention member 157 are disposed at one end 300 U of the operation wire 300 UD from the side of the other end 300 D to the side of one end 300 U.
- the operation wire 300 UD is inserted through the wire nozzle 151 , the urging member 153 , and the coupling member 155 .
- the wire nozzle 151 , the urging member 153 , and the coupling member 155 are movable in the longitudinal direction of the operation wire 300 UD, and the drop prevention member 157 is fixed to one end 300 U.
- a wire nozzle 151 , an urging member 153 , a coupling member 155 , and a drop prevention member 157 that are similar to those described above are also disposed on the other end 300 D, as shown in FIG. 16 .
- the wire nozzle 151 is held and positioned by the holding member 161 .
- the wire nozzle 151 prevents the relaxation and meandering of the operation wire 300 UD extended from the holding portion 101 , and keeps the operation wire 300 UD pulled toward the insertion portion 10 .
- the wire nozzle 151 regulates the traction direction of the operation wire 300 UD in the rear surface 51 d so that the traction direction of the operation wire 300 UD in the rear surface 51 d extends along the X-axis direction.
- the hardness of the wire nozzle 151 is higher than the hardness of the operation wire 300 UD in order to prevent the abrasion of the operation wire 300 UD caused by the wire nozzle 151 .
- the wire nozzle 151 through which the operation wire 300 UD is inserted is positioned by the holding member 161 such that the operation wire 300 UD ranging from the holding portion 101 to the wire nozzle 151 is pulled toward the insertion portion 10 side without relaxation and meandering.
- one end 161 a of the holding member 161 has a recessed cut-out 161 c into which the wire nozzle 151 is fitted.
- One end 161 a of the holding member 161 is disposed at the proximal end 55 b of the rear surface 55 d to hold the wire nozzle 151 .
- the other end 161 b is inserted through the front surface 51 c from the rear surface 51 d via an opening 55 c provided in the proximal end 55 b , and folded in the front surface 51 c.
- the wire nozzle 151 is fitted into the cut-out 161 c , and is thereby positioned in the X-axis direction and the Y-axis direction.
- a prevention plate 163 is disposed in the rear surface 51 d to prevent the wire nozzle 151 from dropping from the cut-out 161 c in the Z-axis direction.
- the prevention plate 163 is disposed along the Y-axis direction to cover the cut-out 161 c . As shown in FIG.
- a part 163 a substantially in the center of the prevention plate 163 in the Y-axis direction is folded in an L-shape toward the rear surface 51 d , and is further folded in an L-shape to contact the rear surface 51 d .
- the prevention plate 163 is fixed by the fixing member 65 , for example, a screw in a folded portion 163 b that contacts the rear surface 51 d .
- the folded portion 163 b extends along the X-axis direction, and is integrated with a partition plate 187 and a positioning plate 185 that will be described later.
- the urging member 153 is, for example, a coil spring, and winds the operation wire 300 UD. At least one urging member 153 is disposed at the end of the operation wire 300 UD. The urging member 153 is held between the wire nozzle 151 and the coupling member 155 . The urging member 153 urges the drop prevention member 157 against the wire nozzle 151 toward one end 300 U via the coupling member 155 , thereby urging, toward the insertion portion 10 , the operation wire 300 UD to which the drop prevention member 157 is fixed, and bringing the operation wire 300 UD into close contact with the groove 853 e . As a result, the vertical winding portion 853 UD is prevented from turning idly, and the driving force of the vertical driving portion 83 UD is transmitted to the operation wire 300 UD without being wasted.
- the bending load of the operation wire 300 UD ⁇ the minimum load of the urging member 153 and that the maximum load of the urging member 153 ⁇ the cutting strength of the operation wire 300 UD/ 100 .
- the drop prevention member 157 prevents the wire nozzle 151 , the urging member 153 , and the coupling member 155 from dropping from the operation wire 300 UD.
- the coupling member 155 couples, for example, one end 300 U of the operation wire 300 UD to the operation wire 400 U. As shown in FIG. 17 , the coupling member 155 is cylindrical. As shown in FIG. 17 , the drop prevention member 157 fixed to one end 300 U of the operation wire 300 UD is disposed in an (internal) bore 155 c of the coupling member 155 .
- the opening 155 h is coaxial with the bore 155 c , and the opening 155 h is smaller in diameter than the bore 155 c .
- the end face 155 g serves as a prevention surface for preventing the drop prevention member 157 from coming out of the coupling member 155 , and prevents the coupling member 155 , the wire nozzle 151 , and the urging member 153 from dropping from the operation wire 300 UD.
- the end face 155 g is urged by the above-mentioned urging member 153 .
- This urging force urges the drop prevention member 157 in the end face 155 g toward the insertion portion 10 via the end face 155 g .
- the urging member 153 urges the operation wire 300 UD toward the insertion portion 10 as described above.
- Through-bores 155 j which extend through the coupling member 155 to reach the inside (the bore 155 c ) are disposed in the peripheral surface 155 e of the coupling member 155 .
- the through-bores 155 j are disposed at substantially equal intervals in the circumferential direction.
- the through-bores 155 j are also disposed at equal intervals along the direction of the central axis of the coupling member 155 .
- a positioning member 159 for positioning the drop prevention member 157 at the proximal end 155 b is disposed in the through-bore 155 j disposed closest to the proximal end 155 b.
- a thread groove 155 m is formed in an outer peripheral surface 1551 at a distal end 155 a of the coupling member 155 .
- a lock member 171 for example a nut is locked to the thread groove 155 m .
- the lock member 171 has, at its distal end 171 a , a flat end face 171 g formed substantially perpendicularly to the central axis direction of the coupling member 155 from a peripheral surface 171 e .
- An opening 171 h through which the operation wire 400 U can be inserted is disposed in the end face 171 g .
- the opening 171 h is coaxial with the bore 155 c , and the opening 171 h is smaller in diameter than the bore 155 c .
- the end face 171 g serves as a prevention surface for preventing a covering portion 167 , a drop prevention member 169 , and the operation wire 400 U that will be described later from dropping out of the coupling member 155 (the bore 155 c ), and prevents the operation wire 400 U from dropping from the coupling member 155 .
- a proximal end 400 Ub of the operation wire 400 U is covered with the covering portion 167 .
- the covering portion 167 is slightly greater than the opening 171 h .
- a recessed groove 167 a is formed in the outer peripheral surface of the proximal end of the covering portion 167 .
- the groove 167 a is formed over the entire circumferential surface of the outer peripheral surface.
- the C-shaped drop prevention member 169 is fitted in the covering portion 167 . Specifically, a projecting portion 169 a is formed in the entire inner peripheral surface of the drop prevention member 169 , and the projecting portion 169 a is fitted into the groove 167 a .
- the outside diameter of the drop prevention member 169 is substantially the same as the diameter of the bore 155 c.
- the operation wire 400 U including the covering portion 167 and the drop prevention member 169 is disposed in the bore 155 c.
- An urging member 175 for urging the operation wire 400 U toward the proximal end 155 b side of the coupling member 155 via the covering portion 167 and the drop prevention member 169 is disposed between the end face 171 g of the lock member 171 and the drop prevention member 169 .
- the urging member 175 urges the operation wire 400 U toward the proximal end 155 b side of the coupling member 155 , and thereby prevents the loosening of the operation wire 400 U and stretches the operation wire 400 U.
- the urging member 175 winds the operation wire 400 U and the covering portion 167 , and is, for example, a coil spring. That is, the diameter of the urging member 175 is greater than the diameter of the operation wire 400 U and the diameter of the covering portion 167 , and is smaller than the diameter of the drop prevention member 169 .
- the urging member 153 is replaceable.
- a positioning member 177 for positioning the operation wire 400 U and others is disposed in the through-bore 155 j .
- the positioning member 177 extends through the through-bore 155 j and thus presses the drop prevention member 169 , thereby positioning the operation wire 400 U and others.
- the positioning of the operation wire 400 U is adjusted in accordance with the position of the through-bore 155 j , and there is no need for such work as soldering.
- the coupling member 155 positions the drop prevention member 157 (the operation wire 300 UD) by the positioning member 159 , and positions the operation wire 400 U by the positioning member 177 , thereby indirectly coupling the operation wire 300 UD to the operation wire 400 U without, for example, soldering.
- the allowable tension of the operation wires 300 UD and 300 LR is equal to or more than that of the operation wires 400 U, 400 D, 400 L, and 400 R.
- the other end 300 D of the operation wire 300 UD, one end 300 L of the operation wire 300 LR, and the other end 300 R of the operation wire 300 LR are coupled to the operation wires 400 D, 400 L, and 400 R in the same manner as described above.
- a partition plate 181 for preventing interference between the operation wires 300 U and 300 D is disposed between one end 300 U of the operation wire 300 UD and the other end 300 D of the operation wire 300 UD in the Y-axis direction.
- the partition plate 181 is a long slope disposed along the X-axis direction.
- a partition plate 183 similar in configuration to the partition plate 181 is also disposed between one end 300 L of the operation wire 300 LR and the other end 300 R of the operation wire 300 LR.
- a proximal end 181 b of the partition plate 181 is folded in an L-shape with respect to the X-axis direction to be substantially parallel to the Y-axis direction.
- a cut-out 181 d into which the wire nozzle 151 is fitted is disposed in a folded portion 181 c .
- the wire nozzle 151 is fitted into the cut-out 161 c and the cut-out 181 d so that the folded portion 181 c is in contact with the holding member 161 .
- the shaking of the proximal end 181 b of the partition plate 181 in the X-axis direction, the Y-axis direction, and the Z-axis direction is prevented, and the proximal end 181 b is positioned in the X-axis direction, the Y-axis direction, and the Z-axis direction.
- a distal end 181 a of the partition plate 181 has a protrusion 181 f protruding in the Z-axis direction.
- the positioning plate 185 having a cut-out 185 c is mounted on the distal end 181 a of the partition plate 181 and a distal end 183 a of the partition plate 183 .
- the protrusion 181 f in the partition plate 181 and a protrusion 183 f in the partition plate 183 are fitted into the cut-out 185 c .
- the positioning plate 185 is mounted on the distal ends 181 a and 183 a along the Y-axis direction, and the cut-out 185 c is fitted to the protrusions 181 f and 183 f .
- a part 185 a substantially in the center of the positioning plate 185 in the Y-axis direction is folded in an L-shape toward the rear surface 51 d , and is further folded in an L-shape to contact the rear surface 51 d .
- the positioning plate 185 is fixed by the fixing member 65 , for example, a screw in a folded portion 185 b that contacts the rear surface 51 d.
- the partition plate 187 is disposed between the other end 300 D side of the operation wire 300 UD and one end 300 L side of the operation wire 300 LR in the Y-axis direction.
- the partition plate 187 is integrated with the prevention plate 163 (the folded portion 163 b ) and the positioning plate 185 (the folded portion 185 b ).
- a wire nozzle 451 similar to the wire nozzle 151 is provided in the operation wire 400 U.
- this wire nozzle 451 is held and positioned by a holding member 461 similar to the holding member 161 .
- One end of the holding member 461 has a recessed cut-out 461 c into which the wire nozzle 451 is fitted.
- One end 461 a of the holding member 461 is disposed at the distal end 55 a on the side of the rear surface 51 d to hold the wire nozzle 451 .
- FIG. 5 a wire nozzle 451 similar to the wire nozzle 151 is provided in the operation wire 400 U.
- the other end 461 b is inserted through the front surface 51 c from the rear surface 51 d via the opening 55 c provided in the distal end 55 a , and folded in the front surface 51 c.
- the wire nozzle 451 is fitted into the cut-out 461 c , and is thereby prevented from shaking in the X-axis direction and the Y-axis direction and positioned in the X-axis direction and the Y-axis direction.
- the wire nozzle 451 is also prevented from dropping in the Z-axis direction by the positioning plate 185 .
- the operation wire 400 U is inserted through a coil pipe 401 , and the coil pipe 401 prevents interference between the operation wire 400 U and other components.
- the operation wire 400 U and the coil pipe 401 are disposed in the coupling member 155 via the opening 61 a and the cut-out 67 d .
- the operation wire 400 U and the coil pipe 401 are further disposed in the body 31 and in the insertion portion 10 , and connected to the bending portion 13 .
- the operation wires 400 D, 400 L, and 400 R are similar in configuration to the operation wire 400 U.
- the operation wire 300 UD is wound around the vertical rotary portion 85 UD by the winding method described above, and extended from the vertical rotary portion 85 UD. At the same time, the horizontal bearing 851 LR and a wall portion 121 b prevents the operation wire 300 UD from dropping.
- the operation wire 300 UD is wound more than once by the groove 853 e.
- the extending direction of the operation wire 300 UD is regulated by the vertical regulation portion 103 UD so that the operation wire 300 UD extends in the tangential direction of the vertical rotary portion 85 UD tilted in the Y-axis direction. Since the vertical regulation portion 103 UD is supported by the support member 107 , the movement of the extending direction of the operation wire 300 UD is prevented.
- the operation wire 300 UD is further inserted through the vertical guide portion 105 UD, and the vertical guide portion 105 UD prevents interference between the operation wire 300 UD and other components such as the operation wire 300 LR.
- the operation wire 300 UD is guided by the vertical guide portion 105 UD so that the operation wire 300 UD is bent toward the XY plane from the YZ plane and extended from the vertical rotary portion 85 UD to the rear surface 51 d where the horizontal rotary portion 85 LR is disposed.
- the length L 4 is longer than the length L 3 , and the bending radius R 4 in the length L 4 is greater than the bending radius R 3 in the length L 3 .
- the operation wire 300 UD is extended from the vertical rotary portion 85 UD and then bent and connected to the bending portion 13 via the operation wires 400 U and 400 D, the load on the operation wire 300 UD is reduced.
- the bending mechanism 81 is reduced in size.
- the vertical winding portion 853 UD is adjacent to the horizontal bearing 851 LR.
- the horizontal bearing 851 LR prevents the operation wire 300 UD from dropping from the groove 853 e , and the operation wire 300 UD is guided without dropping.
- the operation wire 300 UD is disposed in the spiral groove 853 e , and is therefore wound therearound more than once.
- the rotary portion 85 is bigger than the driving portion 83 . This ensures a bending amount.
- the groove 853 e prevents the operation wire 300 UD from being piled up on the outer peripheral surface 853 d in the Z-axis direction and the X-axis direction.
- the longitudinal direction of the insertion portion 10 the longitudinal direction of the vertical operation wire 500 UD, the longitudinal direction of the horizontal operation wire 500 LR, the axial direction of the driving portion 83 , and the axial direction of the rotary portion 85 are in the same direction.
- the bending mechanism 81 can be smaller than when the axial direction of the driving portion 83 is perpendicular to the longitudinal direction of the insertion portion 10 .
- the operation wire 300 UD and the operation wire 300 LR are held by the holding portion 101 so that the operation wire 300 UD extends from the vertical rotary portion 85 UD to the rear surface 51 d where the horizontal rotary portion 85 LR is disposed and so that the operation wire 300 LR extends from the horizontal rotary portion 85 LR to the rear surface 51 d on the side of the vertical rotary portion 85 UD and further intersects with the operation wire 300 UD when the operation wires 300 UD and 300 LR extending from the rotary portion 85 are bent toward the rear surface 51 d.
- the length L 4 is longer than the length L 3 , and the bending radius R 4 in the length L 4 is greater than the bending radius R 3 in the length L 3 , as shown in FIG. 13 .
- the load on the operation wires 300 UD and 300 LR is reduced, and the breakage of the operation wires 300 UD and 300 LR can be prevented.
- the part 853 UDa of the vertical winding portion 853 UD and the part 853 LRa of the horizontal winding portion 853 LR are disposed to overlap each other in the X-axis direction, so that the bending mechanism 81 can be reduced in size.
- the vertical winding portion 853 UD is adjacent to the horizontal bearing 851 LR, and the horizontal winding portion 853 LR is adjacent to the vertical bearing 851 UD.
- the dropping of the operation wires 300 UD and 300 LR from the groove 853 e can be prevented, and the operation wires 300 UD and 300 LR can be guided without dropping.
- the spiral groove 853 e is formed.
- the operation wires 300 UD and 300 LR can be wound around the winding portions 853 UD and 853 LR more than once, and the traction amount of the operation wires 300 UD and 300 LR can be ensured, and the bending amount of the bending portion 13 can be ensured.
- the groove 853 e prevents the operation wires 300 UD and 300 LR from being piled up in the X-axis direction.
- the rotary portion 85 is prevented from turning idly.
- the base plate 51 can be warped by the reinforcing member 71 , the base plate 51 can be adapted to the shape of the grip portion 33 .
- the driving portion 83 is surrounded by the side plates 57 , the upper plate 59 , the wall portion 63 , and the reinforcing member 71 . This makes it possible to prevent the driving portion 83 from dropping from the base plate 51 .
- the operation wires 300 UD and 300 LR are wound in an l-shape ( ⁇ -shape) in the bearings 851 UD and 851 LR and the winding portions 853 UD and 853 LR.
- This makes it possible to prevent the operation wires 300 UD and 300 LR from bending at an acute angle, prevent stress from concentrating on the edge of the opening 853 g , and prevent the breakage of the operation wires 300 UD and 300 LR.
- the curved surface 853 h is formed in the opening 853 g so that the abrasion of the operation wires 300 UD and 300 LR can be reduced.
- the operation wires 300 UD and 300 LR are fixed to the bearings 851 UD and 851 LR not by, for example, solder but by the fixing mechanism 857 , and the operation wires 300 UD and 300 LR can therefore be easily replaced.
- the variation in the assembling precision of the operation wires 300 UD and 300 LR can be prevented by disposing the wire nozzle 151 , the urging member 153 , the coupling member 155 , and the drop prevention member 157 in the operation wires 300 UD and 300 LR in advance.
- the relaxation and meandering of the operation wires 300 UD and 300 LR extended from the rotary portions 85 UD and 85 LR to the wire nozzle 151 can be prevented by the wire nozzle 151 and the holding member 161 , and the operation wires 300 UD and 300 LR can be pulled toward the insertion portion 10 .
- the traction direction of the operation wires 300 UD and 300 LR can be regulated by the wire nozzle 151 .
- the wire nozzle 151 is harder than the operation wires 300 UD and 300 LR, so that the abrasion of the operation wires 300 UD and 300 LR caused by the wire nozzle 151 can be prevented.
- the operation wires 300 UD and 300 LR are urged toward the insertion portion 10 by the urging member 153 . This makes it possible to bring the operation wires 300 UD and 300 LR into close contact with the groove 853 e , and prevent the winding portions 853 UD and 853 LR from turning idly. Thus, the driving force of the driving portion 83 can be transmitted to the operation wires 300 UD and 300 LR without being wasted.
- the operation wires 300 UD and 300 LR can be easily and quickly coupled to the operation wires 400 U, 400 D, 400 L, and 400 R by the coupling member 155 without, for example, soldering.
- the operation wires 400 U, 400 D, 400 L, and 400 R can be kept stretched with high quality.
- the allowable tension of the operation wires 300 UD and 300 LR is equal to or more than that of the operation wires 400 U, 400 D, 400 L, and 400 R. This makes it possible to ease the concentration of stress caused when the operation wires 300 UD and 300 LR are bent at the proximal ends, and prevent the breakage of the operation wires 300 UD and 300 LR.
- the partition plates 181 , 183 , and 187 can be positioned in the X-axis direction, the Y-axis direction, and the Z-axis direction by the holding member 161 , the wire nozzle 151 , the prevention plate 163 , the protrusion 181 f , and the positioning plate 185 .
- the wall portion 121 b can prevent the operation wires 300 UD and 300 LR from dropping from the winding portions 853 UD and 853 LR.
- the bending mechanism 81 comprises the vertical driving portion 83 UD, the vertical rotary portion 85 UD, and the vertical operation wire 500 UD.
- the holding portion 101 has only to hold the operation wire 300 UD extended from the vertical rotary portion 85 UD so that one end 300 U of the operation wire 300 UD and the other end 300 D thereof intersect with each other when the vertical operation wire 500 UD ( 300 UD) extends toward the rear surface 51 d .
- the holding portion 101 holds the operation wire 300 UD so that the operation wire 300 UD is extended from the vertical winding portion 853 UD in a direction tilted in the Z(Y)-axis direction and so that the operation wire 300 UD is extended to the rear surface 51 d disposed on the side to be tilted in the Z(Y)-axis direction.
- an endoscopic treatment tool 600 comprises a treatment portion 601 which treats an affected part and which is fitted into the distal opening 31 c , a wire 603 which is coupled to a proximal end 601 b of the treatment portion 601 and which is inserted from the distal opening 31 c and removed from the treatment tool insertion hole 31 a through the treatment tool insertion channel 31 b , and an operation portion 605 which operates the treatment portion 601 and which is removably connected to a proximal end 603 b of the wire 603 removed from the treatment tool insertion hole 31 a.
- the treatment portion 601 is, for example, an open-shut grip forceps shown in FIG. 18 and FIG. 19 , or is a hook knife shown in FIG. 20 or an unshown IT knife. As shown in FIG. 19 , the treatment portion 601 and the distal hard portion 11 have indexes 611 that indicate the fitting position of the treatment portion 601 for fitting the treatment portion 601 into the distal opening 31 c.
- the common electric bending sheath 2 can be used for various endoscopic treatment tools 600 , so that costs can be reduced.
- the wire 603 for coupling the treatment portion 601 to the operation portion 605 is only disposed in the treatment tool insertion channel 31 b . Therefore, according to the present embodiment, the treatment tool insertion channel 31 b can be smaller in diameter than when the whole endoscopic treatment tool 600 is inserted through the treatment tool insertion channel 31 b . As a result, the electric bending sheath 2 can be reduced in diameter.
- the treatment portion 601 is fitted in the distal opening 31 c . Therefore, if the electric bending sheath 2 is circumferentially rotated, the treatment portion 601 can be rotated, and the operability of the treatment portion 601 can be improved. Moreover, according to the present embodiment, as shown in FIG. 21 , it is possible to operate the operation portion 605 while gripping the grip portion 33 , so that the operability can be improved.
- the treatment portion 601 is removed from the distal opening 31 c , the endoscopic treatment tool 600 alone is disposed of, and the electric bending sheath 2 is cleaned. As a result, the electric bending sheath 2 can be reused.
- the treatment portion 601 can be easily positioned by the indexes 611 and thus fitted into the distal opening 31 c.
- the treatment portion 601 protruding from the distal opening 31 c may have indexes which indicate the vertical and horizontal positions and which are imaged by the imaging unit.
- the indexes are disposed in the vertical and horizontal positions of the treatment portion 601 , and indicate the upper side, the lower side, the left side, and the right side.
- the bending operation portion 33 c is, for example, the TACT switch in the present embodiment, the bending operation portion 33 c is not limited thereto. As shown in FIG. 22 , the bending operation portion 33 c may be, for example, a joystick.
- the present invention is not completely limited to the embodiment described above, and the components can be modified at the stage of carrying out the invention without departing from the spirit thereof.
- Various inventions can be produced by properly combining the components disclosed in the embodiment described above.
Abstract
Description
- This application is a Continuation Application of PCT Application No. PCT/JP2011/058100, filed Mar. 30, 2011 and based upon and claiming the benefit of priority from prior Japanese Patent Application No. 2010-170988, filed Jul. 29, 2010, the entire contents of all of which are incorporated herein by reference.
- 1. Field of the Invention
- The present invention relates to a bending mechanism for bending a bending portion.
- 2. Description of the Related Art
- In general, for example, an electric bending endoscope comprises an insertion portion to be inserted into a body cavity, and an operation portion for operating the endoscope. The insertion portion comprises a flexible tubular portion which has desired flexibility, a bending portion to be bent, and a distal hard portion. The operation portion comprises a bending mechanism for bending the bending portion.
- Such an electric bending endoscope is disclosed in, for example, Jpn. Pat. Appln. KOKAI Publication No. 8-224241. Jpn. Pat. Appln. KOKAI Publication No. 8-224241 discloses a medical manipulator that allows the simplification of the structure of a driving portion and a reduction in size of the medical manipulator.
- A bending mechanism of this medical manipulator comprises an operation wire connected to a bending portion, a pulley around which the operation wire is wound, and the driving portion such as a motor connected to the pulley. The driving portion uses its driving force to wind the pulley and pull the operation wire, thereby bending the bending portion.
- According to an aspect of embodiments, a bending mechanism which is disposed in a base plate and which vertically and horizontally bends a bending portion disposed in an insertion portion to be inserted into a body cavity, the bending mechanism comprising: a vertical driving portion which generates a vertical driving force to vertically bend the bending portion and which is disposed in a front surface of the base plate so that a central axis of the vertical driving, portion extends along the longitudinal direction of the insertion portion; a horizontal driving portion which generates a horizontal driving force to horizontally bend the bending portion and which is disposed in the front surface so that a central axis of the horizontal driving portion extends along the longitudinal direction and is adjacent to the vertical driving portion in a perpendicular direction perpendicular to the longitudinal direction; a vertical rotary portion which is coupled to the vertical driving portion and which is rotated by the vertical driving force and which is disposed on the side of the front surface; a horizontal rotary portion which is coupled to the horizontal driving portion and which is rotated by the horizontal driving force and which is disposed on the side of the front surface to be adjacent to the vertical rotary portion in the perpendicular direction; a vertical operation wire, the vertical operation wire being wound around the vertical rotary portion, extending toward a rear surface of the base plate from the vertical rotary portion, being disposed along the longitudinal direction in the rear surface, being connected to the bending portion, the vertical operation wire pulling the bending portion and vertically bending the bending portion when the vertical rotary portion is rotated by the vertical driving force; a horizontal operation wire, the horizontal operation wire being wound around the horizontal rotary portion, extending toward the rear surface from the horizontal rotary portion, being disposed along the longitudinal direction in the rear surface, being connected to the bending portion, the horizontal operation wire pulling the bending portion and horizontally bending the bending portion when the horizontal rotary portion is rotated by the horizontal driving force; and a holding portion which holds the vertical operation wire extending from the vertical rotary portion and the horizontal operation wire extending from the horizontal rotary portion so that the vertical operation wire extends from the vertical rotary portion to the rear surface on the side where the horizontal rotary portion is disposed and so that the horizontal operation wire extends from the horizontal rotary portion to the rear surface on the side of the vertical rotary portion and further intersects with the vertical operation wire when the vertical operation wire and the horizontal operation wire extend toward the rear surface.
- According to an aspect of embodiments, a bending mechanism which is disposed in a base plate and which bends a bending portion disposed in an insertion portion to be inserted into a body cavity, the bending mechanism comprising: a driving portion which generates a driving force to bend the bending portion and which is disposed in a front surface of the base plate so that a central axis of the driving portion extends along the longitudinal direction of the insertion portion; a rotary portion which is coupled to the driving portion and which is rotated by the driving force and which is disposed on the side of the front surface; an operation wire, the operation wire being wound around the rotary portion, extending toward a rear surface of the base plate from the rotary portion, being disposed along the longitudinal direction in the rear surface, being connected to the bending portion, the operation wire pulling the bending portion and bending the bending portion when the rotary portion is rotated by the driving force; and a holding portion which holds the operation wire extending from the rotary portion so that one end of the operation wire and the other end thereof intersect with each other when the operation wire extends toward the rear surface.
- Advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Advantages of the invention may be realized and obtained by means of the instrumentalities and combinations particularly pointed out hereinafter.
- The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention, and together with the general description given above and the detailed description of the embodiments given below, serve to explain the principles of the invention.
-
FIG. 1 is a perspective view of an electric bending endoscope according to an embodiment; -
FIG. 2 is a perspective view of a base plate; -
FIG. 3 is a perspective view of a bending mechanism on the side of a driving portion when the bending mechanism is disposed on the base plate; -
FIG. 4 is a perspective view of a grip portion on the side of operation wires when the bending mechanism is disposed on the base plate; -
FIG. 5 is a perspective view of the grip portion on the side of the operation wires when the bending mechanism is disposed on the base plate; -
FIG. 6 is a perspective view of the bending mechanism around a holding portion; -
FIG. 7 is a front view ofFIG. 6 ; -
FIG. 8 is a top view ofFIG. 6 ; -
FIG. 9 is a perspective view of the bending mechanism from the front side; -
FIG. 10 is a perspective view of a rotary portion around which the operation wire is wound; -
FIG. 11 is a perspective view whenFIG. 10 is viewed from a different angle; -
FIG. 12 is a view showing the operation wire to be wound around the rotary portion; -
FIG. 13 is a view showing the relation between a length L3, a length L4, a bending radius R3, and a bending radius R4; -
FIG. 14 is a view illustrating the configuration of one end of the operation wire; -
FIG. 15 is a perspective view illustrating the rear configuration of the base plate; -
FIG. 16 is a view illustrating the configuration of both ends of the operation wire; -
FIG. 17 is a sectional view of a coupling member; -
FIG. 18 is a perspective view of an electric bending sheath; -
FIG. 19 is a view showing indexes in a treatment portion and a distal hard portion; -
FIG. 20 is a perspective view of the treatment portion (high-frequency knife); -
FIG. 21 is a perspective view showing how to grip the electric bending sheath to operate an endoscopic treatment tool; and -
FIG. 22 is a perspective view of the electric bending endoscope in which a bending operation portion is a joystick. - An embodiment of the present invention will be described in detail hereinafter with reference to the drawings.
- The present embodiment is described with reference to
FIG. 1 ,FIG. 2 ,FIG. 3 ,FIG. 4 ,FIG. 5 ,FIG. 6 ,FIG. 7 ,FIG. 8 ,FIG. 9 ,FIG. 10 ,FIG. 11 ,FIG. 12 ,FIG. 13 ,FIG. 14 ,FIG. 15 ,FIG. 16 , andFIG. 17 . For the simplification of the drawings, some components are not shown in some of the drawings. For example,operation wires FIG. 4 . - Hereinafter, the longitudinal direction of an
insertion portion 10, the longitudinal direction of agrip portion 33, the longitudinal direction of abase plate 51, the longitudinal direction of the operation wires 300UD, 300LR, 400U, 400D, 400R, and 400L, the axial direction of adriving portion 83, and the axial direction of arotary portion 85 are in an X-axis direction. A direction perpendicular to the X-axis direction, the width direction of thegrip portion 33, and the width direction of thebase plate 51 are in a Y-axis direction. A direction perpendicular to the X-axis direction and the Y-axis direction is a Z-axis direction. - As shown in
FIG. 1 , an electric bending endoscope 1 (hereinafter referred to as an endoscope 1) according to the present embodiment comprises aninsertion portion 10 to be inserted into a body cavity, and anoperation portion 30 which is coupled to the proximal end of theinsertion portion 10 and which operates theendoscope 1. - The
insertion portion 10 comprises, from its distal end to its proximal end, a distalhard portion 11, abending portion 13, and a flexibletubular portion 15. The proximal end of the distalhard portion 11 is coupled to the distal end of thebending portion 13. The proximal end of thebending portion 13 is coupled to the distal end of the flexibletubular portion 15. - The distal
hard portion 11 is the distal end of theinsertion portion 10, and is hard. - The
bending portion 13 is bent in desired directions, for example, vertically and horizontally in accordance with the operation of a later-describedbending operation portion 33 c. The bendingportion 13 is bent so that the position and direction of the distalhard portion 11 are changed, an observation target is taken into an observation view field, and illumination light is applied to the observation target. The bendingportion 13 is connected to the later-describedoperation wires tubular portion 15. - The flexible
tubular portion 15 has desired flexibility, and is bent by external force. The flexibletubular portion 15 is a tubular member that extends from abody 31 of theoperation portion 30. - The
operation portion 30 comprises thebody 31 from which the flexibletubular portion 15 extends, thegrip portion 33 which is coupled to the proximal end of thebody 31 and which is gripped by an operator who operates theendoscope 1, and auniversal cord 35 connected to thegrip portion 33. - A treatment
tool insertion hole 31 a is provided in thebody 31. The treatmenttool insertion hole 31 a is coupled to the proximal end of a treatmenttool insertion channel 31 b. In theinsertion portion 10, the treatmenttool insertion channel 31 b is provided to extend from the flexibletubular portion 15 to the distalhard portion 11. The treatmenttool insertion hole 31 a is an insertion hole for inserting an unshown endoscopic treatment tool into the treatmenttool insertion channel 31 b. The unshown endoscopic treatment tool is inserted into the treatmenttool insertion channel 31 b from the treatmenttool insertion hole 31 a, and pushed into the side of the distalhard portion 11. The endoscopic treatment tool is then projected from adistal opening 31 c of the treatmenttool insertion channel 31 b provided in the distalhard portion 11. - The
universal cord 35 has aconnection portion 35 a connected to, for example, an unshown video processor or light source unit. - A
proximal end 33 b of thegrip portion 33 is provided with the bendingoperation portion 33 c for vertically and horizontally bending the bendingportion 13. The bendingoperation portion 33 c is a switch such as a TACT switch (registered trademark). - As shown in
FIG. 1 , thegrip portion 33 is tapered toward the distal end. Thegrip portion 33 comprises thebase plate 51 shown inFIG. 2 , and acover portion 53 shown inFIG. 1 covering thebase plate 51. Thebody 31 is disposed at adistal end 51 a of thebase plate 51. The bendingoperation portion 33 c is disposed at aproximal end 51 b of thebase plate 51. - As shown in
FIG. 2 andFIG. 3 , thebase plate 51 is, for example, a bottom board metal. As shown inFIG. 2 , both sides of thebase plate 51 are folded in the Z-axis direction from an XY plane, and thebase plate 51 is recessed in section in the Y-axis direction. Theproximal end 51 b of thebase plate 51 is also folded in the Z-axis direction in the same manner as the both sides. That is, thebase plate 51 comprises abottom plate 55,side plates 57 standing from thebottom plate 55 and integrated with thebottom plate 55, and anupper plate 59 standing from thebottom plate 55 and integrated with thebottom plate 55. As shown inFIG. 2 , the surface of thebottom plate 55 where theside plates 57 and theupper plate 59 stand is afront surface 51 c of thebase plate 51. As shown inFIG. 4 andFIG. 5 , the surface of thebottom plate 55 opposite to thefront surface 51 c is arear surface 51 d of thebase plate 51. - As shown in
FIG. 2 , proximal ends 57 b of theside plates 57 extend toward theproximal end 33 b of thegrip portion 33 than aproximal end 55 b of thebottom plate 55, that is, from theupper plate 59, and project from theproximal end 55 b of thebottom plate 55. Theside plate 57 is thicker at itsproximal end 57 b than at itsdistal end 57 a, and a step is formed between theproximal end 57 b of theside plate 57 and thedistal end 57 a thereof. - As shown in
FIG. 2 andFIG. 6 , theupper plate 59 is provided in a space between the proximal ends 57 b side of theside plates 57 in the Y-axis direction. Theupper plate 59 has acontact surface 59 c with which a later-described reinforcingmember 71 comes into contact. - As shown in
FIG. 2 ,FIG. 3 ,FIG. 4 , andFIG. 5 , thebottom plate 55 has, in adistal end 55 a (distal end 51 a) of thebottom plate 55, a pair ofprotrusions 61 that protrude from thedistal end 55 a toward theinsertion portion 10. Theprotrusions 61 are integrated with thebottom plate 55. A part of thedistal end 55 a extends toward theinsertion portion 10 so that theprotrusions 61 are formed. Thedistal end 55 a of thebottom plate 55 is recessed by the formation of theprotrusions 61. Anopening 61 a which is open toward theinsertion portion 10 is provided at thedistal end 55 a. Thebottom plate 55 including theprotrusions 61 is elastically deformable. - As shown in
FIG. 2 ,FIG. 3 ,FIG. 4 , andFIG. 5 , awall portion 63 is provided in theprotrusions 61. Thewall portion 63 is U-shaped so that aend 63 c of thewall portion 63 contacts each of the pair ofprotrusions 61. As shown inFIG. 3 andFIG. 5 , agroove 63 d is formed in thewall portion 63. Theend 63 c of thewall portion 63 is fixed to each of theprotrusions 61 by a fixingmember 65, for example, a screw on the side of therear surface 51 d. - As shown in
FIG. 2 ,FIG. 3 ,FIG. 4 , andFIG. 5 , a substantiallycylindrical coupling member 67 which couples thegrip portion 33 to thebody 31 is fitted in theU-shaped wall portion 63, in other words, thegroove 63 d or theend 63 c. Aproximal end 67 b of thecoupling member 67 is fitted in thewall portion 63, and is fixed to thewall portion 63 by the fixingmember 65, for example, a screw. Adistal end 67 a of thecoupling member 67 is fitted in thebody 31, and is fixed to thebody 31 by a fixing member, for example, a screw. Thus, thecoupling member 67 couples thegrip portion 33 to thebody 31. - As shown in
FIG. 4 andFIG. 5 , the substantiallycylindrical coupling member 67 has a cut-out 67 d cut toward therear surface 51 d. The cut-out 67 d is provided to extend from theproximal end 67 b of thecoupling member 67 to thedistal end 67 a of thecoupling member 67. When thecoupling member 67 is fixed to thewall portion 63, the cut-out 67 d is in communication with the opening 61 a disposed between theprotrusions 61. The width of the cut-out 67 d is substantially equal to the width of the opening 61 a, that is, the distance between theprotrusions 61. The length of the cut-out 67 d is greater than the length of the opening 61 a, that is, the length of theprotrusion 61. - As shown in
FIG. 2 , a recessed cut-out 63 f is formed in anupper surface 63 e of thewall portion 63. The cut-out 63 f is open toward aproximal end 63 b of thewall portion 63. The inner surface of the cut-out 63 f is formed as a contact surface 63 g with which the reinforcingmember 71 comes into contact. The contact surface 63 g is collinear with thecontact surface 59 c in the X-axis direction. - As shown in
FIG. 2 , the reinforcingmember 71 in the shape of a single long plate is disposed between thecontact surface 59 c and the contact surface 63 g. The reinforcingmember 71 is disposed along the X-axis direction to contact thecontact surface 59 c and the contact surface 63 g. The reinforcingmember 71 reinforces the strength of thebase plate 51, and warps thebase plate 51. - Specifically, a length L1 of the reinforcing
member 71 is slightly greater than a length L2 between thecontact surface 59 c and the contact surface 63 g. When the reinforcingmember 71 is disposed to contact thecontact surface 59 c and the contact surface 63 g, thebase plate 51 warps (curves) in the direction of an arrow A to change from L2 to L1 as shown inFIG. 2 such that the reinforcingmember 71 is fitted into the space between thecontact surface 59 c and the contact surface 63 g. - More specifically, L1 is slightly greater than L2. However, if the reinforcing
member 71 is disposed between thecontact surface 59 c and the contact surface 63 g, thebase plate 51 warps in the direction of the arrow, so that the reinforcingmember 71 is fitted into the space between thecontact surface 59 c and the contact surface 63 g. - This warping is caused around the
protrusions 61 where the opening 61 a is formed and the strength is lower than in other parts. As thegrip portion 33 is tapered, thebase plate 51 is adapted to the shape of thegrip portion 33 as a result of the warping. - As shown in
FIG. 3 , asupport member 73 which supports the reinforcingmember 71 and thewall portion 63 is disposed in the reinforcingmember 71. Thesupport member 73 is fixed to the reinforcingmember 71 by the fixingmember 65, for example, a screw, and further fixed to thewall portion 63 by the fixingmember 65, for example, a screw. - As shown in
FIG. 6 , thegrip portion 33 has abending mechanism 81 which is disposed in thebase plate 51 and which vertically and horizontally bends the bendingportion 13. Thebending mechanism 81 is covered with thecover portion 53 together with thebase plate 51, and vertically and horizontally bends the bendingportion 13 in conjunction with the operation of the bendingoperation portion 33 c. - As shown in
FIG. 3 ,FIG. 6 ,FIG. 7 ,FIG. 8 , andFIG. 9 , thebending mechanism 81 comprises the drivingportion 83 which generates a driving force to bend the bendingportion 13, and therotary portion 85 which is coupled to the drivingportion 83 and which is rotated by the driving force generated from the drivingportion 83. As shown inFIG. 3 ,FIG. 6 ,FIG. 7 ,FIG. 8 , andFIG. 9 , thebending mechanism 81 also comprises operation wires 500UD and 500LR. The operation wires 500UD and 500LR are wound around therotary portion 85, extend from therotary portion 85 toward therear surface 51 d, are provided in therear surface 51 d along the X-axis direction, are connected to the bendingportion 13, and pull the bendingportion 13 and bend the bendingportion 13 when therotary portion 85 is rotated by the driving force. - As shown in
FIG. 3 ,FIG. 6 , andFIG. 7 , the drivingportion 83 is disposed in thefront surface 51 c. The drivingportion 83 is surrounded by theupper plate 59, theside plates 57, thewall portion 63, and the reinforcingmember 71 which prevent the drivingportion 83 from dropping from thebase plate 51. - As shown in
FIG. 3 andFIG. 6 , the drivingportion 83 comprises a vertical driving portion 83UD and a horizontal driving portion 83LR. - The vertical driving portion 83UD generates a vertical driving force to vertically bend the bending
portion 13. As shown inFIG. 3 andFIG. 6 , the vertical driving portion 83UD is disposed in thefront surface 51 c of thebase plate 51 so that a drivingshaft 83 c (central axis) of the vertical driving portion 83UD extends along the X-axis direction (the longitudinal direction of the insertion portion 10). - The horizontal driving portion 83LR generates a horizontal driving force to horizontally bend the bending
portion 13. As shown inFIG. 3 andFIG. 6 , the horizontal driving portion 83LR is disposed in thefront surface 51 c so that the drivingshaft 83 c (central axis) of the horizontal driving portion 83LR extends along the X-axis direction (the longitudinal direction of the insertion portion 10) and is adjacent to the vertical driving portion 83UD in the Y-axis direction. - The vertical driving portion 83UD and the horizontal driving portion 83LR are disposed symmetrically with respect to the central axis of the
grip portion 33. The axial direction of the drivingshaft 83 c is the axial direction of the drivingportion 83, the axial direction of therotary portion 85, and the longitudinal direction of theinsertion portion 10. These directions are in the same direction. - The vertical driving portion 83UD and the horizontal driving portion 83LR have the same structure and shape, and therefore, the vertical driving portion 83UD is described by way of example with reference to
FIG. 3 andFIG. 6 . - The vertical driving portion 83UD is cylindrical. The vertical driving portion 83UD is, for example, an actuator having a motor, a gear, and a position sensor.
- As shown in
FIG. 3 ,FIG. 6 , andFIG. 7 , therotary portion 85 is disposed on the side of thefront surface 51 c. Therotary portion 85 is disposed closer to theproximal end 33 b of thegrip portion 33 than theupper plate 59, and protrudes from theupper plate 59. - The
rotary portion 85 comprises a vertical rotary portion 85UD and a horizontal rotary portion 85LR. - The vertical rotary portion 85UD is coupled to the driving
shaft 83 c of the vertical driving portion 83UD, and is rotated by a vertical driving force generated from the vertical driving portion 83UD. The vertical rotary portion 85UD is disposed on the side of thefront surface 51 c. - The horizontal rotary portion 85LR is coupled to the driving
shaft 83 c of the horizontal driving portion 83LR, and is rotated by a horizontal driving force generated from the horizontal driving portion 83LR. The horizontal rotary portion 85LR is disposed on the side of thefront surface 51 c to be adjacent to the vertical rotary portion 85UD in the Y-axis direction. - As shown in
FIG. 6 , the operation wire 300UD, which is a vertical operation wire on the side of thegrip portion 33 to vertically bend the bendingportion 13, is wound around the vertical rotary portion 85UD. The operation wire 300UD is provided in thegrip portion 33, and extends toward therear surface 51 d from the vertical rotary portion 85UD via theproximal end 55 b of thebottom plate 55. Moreover, the operation wire 300UD is disposed in therear surface 51 d along the X-axis direction. As shown inFIG. 5 , theoperation wire 400U, which is an upward operation wire on the side of theinsertion portion 10 to bend the bendingportion 13 upward, is coupled to oneend 300U of the operation wire 300UD on the side of therear surface 51 d. Theoperation wire 400D, which is a downward operation wire on the side of theinsertion portion 10 to bend the bendingportion 13 downward, is coupled to theother end 300D of the operation wire 300UD on the side of therear surface 51 d. Theoperation wire 400U and theoperation wire 400D are inserted through theinsertion portion 10, and are connected to the bendingportion 13. - The operation wire 300UD, the
operation wire 400U, and theoperation wire 400D serve as the vertical operation wire 500UD to vertically bend the bendingportion 13. Thus, the vertical operation wire 500UD is wound around the vertical rotary portion 85UD, extends toward therear surface 51 d of thebase plate 51 from the vertical rotary portion 85UD, is disposed along the longitudinal direction in therear surface 51 d, and is connected to the bendingportion 13. The vertical operation wire 500UD then pulls the bendingportion 13 and vertically bends the bendingportion 13 when the vertical rotary portion 85UD is rotated by the vertical driving force. - As shown in
FIG. 6 , the operation wire 300LR, which is a horizontal operation wire on the side of thegrip portion 33 to horizontally bend the bendingportion 13, is wound around the horizontal rotary portion 85LR. The operation wire 300LR is disposed in thegrip portion 33, and extends toward therear surface 51 d from the horizontal rotary portion 85LR via the proximal end of thebottom plate 55. Moreover, the operation wire 300LR is disposed in therear surface 51 d along the X-axis direction. As shown inFIG. 5 , theoperation wire 400L, which is a leftward operation wire on the side of theinsertion portion 10 to bend the bendingportion 13 leftward, is coupled to oneend 300L of the operation wire 300LR on the side of therear surface 51 d. Theoperation wire 400R, which is a rightward operation wire on the side of theinsertion portion 10 to bend the bendingportion 13 rightward, is coupled to theother end 300R of the operation wire 300LR on the side of therear surface 51 d. Theoperation wire 400L and theoperation wire 400R are inserted through theinsertion portion 10, and are connected to the bendingportion 13. - The operation wire 300LR, the
operation wire 400L, and theoperation wire 400R serve as the horizontal operation wire 500LR to horizontally bend the bendingportion 13. Thus, the horizontal operation wire 500LR is wound around the horizontal rotary portion 85LR, extends toward therear surface 51 d of thebase plate 51 from the horizontal rotary portion 85LR, is disposed along the longitudinal direction in therear surface 51 d, and is connected to the bendingportion 13. The horizontal operation wire 500LR then pulls the bendingportion 13 and horizontally bends the bendingportion 13 when the horizontal rotary portion 85LR is rotated by the horizontal driving force. - The vertical rotary portion 85UD and the horizontal rotary portion 85LR are described here.
- As shown in
FIG. 7 , the vertical rotary portion 85UD is disposed closer to theproximal end 33 b of thegrip portion 33 than the vertical driving portion 83UD, and the horizontal rotary portion 85LR is disposed closer to theproximal end 33 b of thegrip portion 33 than the horizontal driving portion 83LR. The vertical rotary portion 85UD and the horizontal rotary portion 85LR are symmetrical with respect to the central axis of thegrip portion 33. The central axis of the vertical rotary portion 85UD and the central axis of the horizontal rotary portion 85LR are disposed along the X-axis direction. The central axis of the vertical rotary portion 85UD is coaxial with the central axis (drivingshaft 83 c) of the vertical driving portion 83UD. The central axis of the horizontal rotary portion 85LR is coaxial with the central axis (drivingshaft 83 c) of the horizontal driving portion 83LR. - The vertical rotary portion 85UD and the horizontal rotary portion 85LR have the same structure and shape, and therefore, the structure of the vertical rotary portion 85UD is described by way of example with reference to
FIG. 6 ,FIG. 7 ,FIG. 8 ,FIG. 9 , andFIG. 10 . InFIG. 10 andFIG. 11 , aspiral groove 853 e shown inFIG. 7 and the operation wire 300UD wound around thegroove 853 e more than once as shown inFIG. 7 are not shown for the simplification of the drawings. - The vertical rotary portion 85UD comprises a vertical bearing 851UD into which the driving
shaft 83 c of the vertical driving portion 83UD is fitted, and a vertical winding portion 853UD which is formed to be integrated with the vertical bearing 851UD and which is greater in diameter than the vertical bearing 851UD and the vertical driving portion 83UD and around which the vertical operation wire 500UD is wound. - In the drawings, the bearing in the horizontal rotary portion 85LR is a horizontal bearing 851LR, and the winding portion is shown as a horizontal winding portion 853LR. The horizontal operation wire 500LR is wound around the horizontal winding portion 853LR. The horizontal bearing 851LR has the same structure as the vertical bearing 851UD, and the horizontal winding portion 853LR has the same structure as the vertical winding portion 853UD.
- As shown in
FIG. 10 ,FIG. 11 , andFIG. 12 , the vertical bearing 851UD is cylindrical, and has abore 851 a into which the drivingshaft 83 c of the vertical driving portion 83UD is fitted. The vertical bearing 851UD serves as a boss. The vertical bearing 851UD is higher than the vertical winding portion 853UD. - The vertical winding portion 853UD is substantially ring-shaped, and is greater in outside diameter than the vertical driving portion 83UD. A
bottom surface 853 a is provided in one end face of the vertical winding portion 853UD. The vertical bearing 851UD stands in thebottom surface 853 a. As shown inFIG. 6 , abore 853 c through which the drivingshaft 83 c passes and which is coaxial with thebore 851 a is provided in thebottom surface 853 a. The vertical winding portion 853UD is coaxial with the vertical bearing 851UD. As shown inFIG. 10 , aperipheral wall 853 b of the vertical winding portion 853UD surrounds the vertical bearing 851UD. Therefore, aspace 855 is formed between theperipheral wall 853 b and the vertical bearing 851UD. The operation wire 300UD is disposed in thespace 855. - As shown in
FIG. 6 , thespiral groove 853 e in which the operation wire 300UD is disposed is formed in an outerperipheral surface 853 d of theperipheral wall 853 b. InFIG. 10 andFIG. 11 , thegroove 853 e is shown in a simplified form. - The
spiral groove 853 e is, for example, a thread groove. Thegroove 853 e prevents the operation wire 300UD from being piled up on the outerperipheral surface 853 d in the Z-axis direction and the X-axis direction. Such a vertical winding portion 853UD is, for example, a pulley. - As shown in
FIG. 10 andFIG. 11 , an opening 853 g with which thespace 855 is in communication and through which the operation wire 300UD can be inserted toward thespace 855 is formed in thegroove 853 e. Acurved surface 853 h is formed in the opening 853 g on the side of thegroove 853 e to reduce the abrasion of the operation wire 300UD caused by friction with thegroove 853 e. - As shown in
FIG. 11 , afixing mechanism 857 is disposed in thespace 855 to fix, to the vertical bearing 851UD, the operation wire 300UD which is inserted through the opening 853 g and which is disposed in thespace 855. Thefixing mechanism 857 is, for example, a clamp. More specifically, thefixing mechanism 857 comprises aplate 857 a disposed in thespace 855, and a fixingmember 857 b, for example, a screw for fixing theplate 857 a to the vertical bearing 851UD. When the operation wire 300UD is held between theplate 857 a and the vertical bearing 851UD, the fixingmember 857 b fixes theplate 857 a to the vertical bearing 851UD. As a result, the operation wire 300UD held between theplate 857 a and the vertical bearing 851UD is fixed. Thefixing mechanism 857 is disposed to be symmetrical to the opening 853 g with respect to the vertical bearing 851UD. Thus, in the present embodiment, the operation wire 300UD is fixed not by, for example, solder but by thefixing mechanism 857, and is therefore easily replaced. - In the present embodiment, as shown in
FIG. 7 , one of the vertical winding portion 853UD and the horizontal winding portion 853LR is disposed closer to the driving portion 83 (the distal end side of the insertion portion 10) than the other so that a part 853UDa of the vertical winding portion 853UD and a part 853LRa of the horizontal winding portion 853LR overlap each other in the X-axis direction. Therefore, in the X-axis direction, for example, the vertical bearing 851UD is disposed closer to the vertical driving portion 83UD than the vertical winding portion 853UD, and the horizontal winding portion 853LR is disposed closer to the horizontal driving portion 83LR than the horizontal bearing 851LR. Thus, the width of thebending mechanism 81 in the Y-axis direction is reduced, so that thebending mechanism 81 is reduced in size. - In the meantime, the vertical winding portion 853UD is adjacent to the horizontal bearing 851LR in the Y-axis direction. Thus, for example, the horizontal bearing 851LR prevents the operation wire 300UD wound around the vertical winding portion 853UD from dropping from the
groove 853 e, and the horizontal bearing 851LR functions as a guide for the operation wire 300UD. - Similarly, the horizontal winding portion 853LR is adjacent to the vertical bearing 851UD in the Y-axis direction. Thus, for example, the vertical bearing 851UD prevents the operation wire 300LR wound around the horizontal winding portion 853LR from dropping from the
groove 853 e, and the vertical bearing 851UD functions as a guide for the operation wire 300LR. - Here, a method of winding the operation wire 300UD around the vertical rotary portion 85UD is described with reference to
FIG. 10 ,FIG. 11 , andFIG. 12 . - As shown in
FIG. 12 , aloop 301 is formed in the linear operation wire 300UD. Theloop 301 is inserted through the opening 853 g toward thespace 855 from the outside of the vertical winding portion 853UD, and hooked to the vertical bearing 851UD to surround the vertical bearing 851UD, as shown inFIG. 10 andFIG. 11 . In this case, as shown inFIG. 10 , oneend 300U of the operation wire 300UD located on the right of the vertical bearing 851UD and theother end 300D of the operation wire 300UD located on the left of the vertical bearing 851UD are removed from the opening 853 g. Moreover, as shown inFIG. 10 , oneend 300U is fitted into thegroove 853 e to contact the leftcurved surface 853 h of the opening 853 g. Theother end 300D is fitted into thegroove 853 e to contact the rightcurved surface 853 h of the opening 853 g. - Thus, the operation wire 300UD is wound in an l-shape (γ-shape) in the vertical bearing 851UD and the vertical winding portion 853UD. That is, the operation wire 300UD inserted into the opening 853 g is wound around the vertical bearing 851UD and then removed from the opening 853 g in a direction that intersects with the insertion direction. That is, the operation wire 300UD inserted into the opening 853 g and the operation wire 300UD removed from the opening 853 g intersect with each other around the opening 853 g.
- The operation wire 300UD is not wound in an Ω-shape around the vertical bearing 851UD and the vertical winding portion 853UD. This prevents the operation wire 300UD from bending at an acute angle in the opening 853 g, and prevents stress from concentrating on the edge of the opening 853 g. As the
curved surface 853 h is formed, the abrasion of the operation wire 300UD is reduced. - In the case described above, in order to prevent the variation in the assembling precision of the operation wire 300UD, the
loop 301 is formed so that awire nozzle 151, an urgingmember 153, acoupling member 155, and adrop prevention member 157 that will be described later are disposed in the operation wire 300UD in advance, and the operation wire 300UD is wound. - Furthermore, the operation wire 300UD is fixed to the vertical bearing 851UD by the
fixing mechanism 857. The operation wire 300UD is then extended to therear surface 51 d side from the vertical rotary portion 85UD via theproximal end 55 b of thebottom plate 55. - A method of winding the operation wire 300LR around the horizontal rotary portion 85LR is similar to the above-described method of winding the operation wire 300UD. The operation wire 300LR is extended to the
rear surface 51 d side from the horizontal rotary portion 85LR via theproximal end 55 b of thebottom plate 55 in the same manner as the operation wire 300UD. - As shown in
FIG. 6 andFIG. 8 , thebending mechanism 81 comprises a holdingportion 101 which holds the operation wire 300UD extending to therear surface 51 d from the vertical rotary portion 85UD and the operation wire 300LR extending to therear surface 51 d from the horizontal rotary portion 85LR. The holdingportion 101 is disposed on theupper plate 59. - Specifically, the holding
portion 101 holds the operation wire 300UD and the operation wire 300LR so that the operation wire 300UD extends from the vertical rotary portion 85UD to therear surface 51 d on the side where the horizontal rotary portion 85LR is disposed and so that the operation wire 300LR extends from the horizontal rotary portion 85LR to therear surface 51 d on the side of the vertical rotary portion 85UD and further intersects with the vertical operation wire 500UD. - In the present embodiment, the operation wire 300UD is not extended to the
rear surface 51 d from the vertical rotary portion 85UD along the Z-axis direction, and is not extended to therear surface 51 d where the vertical driving portion 83UD is disposed. In other words, the operation wire 300UD in therear surface 51 d is not adjacent to the vertical driving portion 83UD via thebottom plate 55 in the Z-axis direction. - In the present embodiment, as shown in
FIG. 6 andFIG. 8 , the holdingportion 101 holds the operation wire 300UD so that the operation wire 300UD extends from the vertical winding portion 853UD in a direction tilted in the Z(Y)-axis direction and so that the operation wire 300UD extends to therear surface 51 d where the horizontal driving portion 83LR is disposed. That is, the holdingportion 101 holds the operation wire 300UD so that the operation wire 300UD in therear surface 51 d is adjacent to the horizontal driving portion 83LR via thebottom plate 55 in the Z-axis direction. - Furthermore, in the present embodiment, the operation wire 300LR is not extended to the
rear surface 51 d from the horizontal winding portion 853LR along the Z-axis direction, and is not extended to therear surface 51 d where the horizontal driving portion 83LR is disposed. In other words, the operation wire 300LR in therear surface 51 d is not adjacent to the horizontal driving portion 83LR via thebottom plate 55 in the Z-axis direction. - In the present embodiment, as shown in
FIG. 6 andFIG. 8 , the holdingportion 101 holds the operation wire 300UD so that the operation wire 300LR extends from the horizontal winding portion 853LR in a direction tilted in the Z(Y)-axis direction and so that the operation wire 300LR extends to therear surface 51 d where the vertical driving portion 83UD is disposed. That is, the holdingportion 101 holds the operation wire 300LR so that the operation wire 300LR in therear surface 51 d is adjacent to the vertical driving portion 83UD via thebottom plate 55 in the Z-axis direction. - The holding
portion 101 holds the operation wire 300UD and the operation wire 300LR so that the operation wire 300UD extending to therear surface 51 d from the vertical winding portion 853UD as described above intersects on theupper plate 59 with the operation wire 300LR extending to therear surface 51 d from the horizontal winding portion 853LR as described above. That is, the operation wire 300UD and the operation wire 300LR intersect with each other in the holdingportion 101. - Moreover, the holding
portion 101 holds the operation wire 300UD and the operation wire 300LR so that the extending direction of the operation wire 300UD extending from the vertical winding portion 853UD and the extending direction of the operation wire 400LD extending from the horizontal winding portion 853LR are tilted with respect to the Y-axis direction. - The longitudinal direction of the operation wire 300UD on the side of the
rear surface 51 d and the axial direction of the horizontal driving portion 83LR are symmetrical on the Z-axis to the longitudinal direction of the operation wire 300LR on the side of therear surface 51 d and the axial direction of the vertical driving portion 83UD. - Here, the relation between L3 and L4 is described with reference to
FIG. 13 . L3 indicates the length of the bent operation wire 300UD from the vertical winding portion 853UD to therear surface 51 d when the operation wire 300UD is extended to therear surface 51 d from the vertical winding portion 853UD along the Z-axis direction. L4 indicates the length of the bent operation wire 300UD from the vertical winding portion 853UD to therear surface 51 d when the operation wire 300UD is extended from the vertical winding portion 853UD in a direction tilted in the Z(Y)-axis direction as in the present embodiment. - In general, the length L4 is longer than the length L3, and a bending radius R4 in the length L4 is greater than a bending radius R3 in the length L3. As a result, in the bent operation wire 300UD, the burden on the operation wire 300UD when the operation wire 300UD is pulled in the case of the length L4 is less than the burden on the operation wire 300UD when the operation wire 300UD is pulled in the case of the length L3.
- Therefore, the holding
portion 101 holds the operation wire 300UD as described above. This holds true for the operation wire 300LR. - As shown in
FIG. 6 , the holdingportion 101 comprises a vertical regulation portion 103UD, a vertical guide portion 105UD, a horizontal regulation portion 103LR, a horizontal guide portion 105LR, and asupport member 107. - The vertical regulation portion 103UD regulates the extending direction of the operation wire 300UD so that the operation wire 300UD extends from the vertical winding portion 853UD in the tangential direction of the vertical winding portion 853UD tilted with respect to the Y-axis direction. The vertical regulation portion 103UD is, for example, a cylindrical wire nozzle through which the operation wire 300UD is inserted.
- The operation wire 300UD regulated by the vertical regulation portion 103UD is inserted through the vertical guide portion 105UD. Thus, the vertical guide portion 105UD prevents interference between the operation wire 300UD and other components such as the operation wire 300LR. The vertical guide portion 105UD guides the operation wire 300UD so that the operation wire 300UD extends from the vertical winding portion 853UD to the
rear surface 51 d on the side of the horizontal rotary portion 85LR. - The vertical guide portion 105UD is bent toward the XY plane, for example, from a YZ plane. Thus, the vertical guide portion 105UD bends the operation wire 300UD so that the operation wire 300UD extended from the vertical winding portion 853UD and disposed in the YZ plane is disposed in the XY plane toward the
rear surface 51 d. - The vertical guide portion 105UD is, for example, a guide tube. The vertical guide portion 105UD is made of a bendable soft material. If the vertical guide portion 105UD is made of a hard material, the vertical guide portion 105UD is difficult to process and is thus costly. Moreover, the hard material causes trouble in the insertion of the operation wire 300UD, regulates the bending direction of the operation wire 300UD, and reduces the degree of freedom. However, if the vertical guide portion 105UD is made of a soft material, the operation wire 300UD can bend even after being inserted through the vertical guide portion 105UD. Thus, the vertical guide portion 105UD can increase the degree of freedom in the bending direction of the operation wire 300UD.
- The vertical guide portion 105UD is disposed between the vertical regulation portion 103UD and the
wire nozzle 151 which is held by a later-described holdingmember 161. The vertical guide portion 105UD may be movable in the axial direction of the operation wire 300UD or may be fixed to the vertical regulation portion 103UD. - The vertical regulation portion 103UD and the vertical guide portion 105UD are provided for one
end 300U of the operation wire 300UD and theother end 300D of the operation wire 300UD, respectively. - The horizontal regulation portion 103LR regulates the extending direction of the operation wire 300LR so that the operation wire 300LR extends from the horizontal winding portion 853LR in the tangential direction of the horizontal winding portion 853LR tilted with respect to the Y-axis direction. The horizontal regulation portion 103LR is, for example, a cylindrical wire nozzle through which the operation wire 300LR is inserted.
- The operation wire 300LR regulated by the horizontal regulation portion 103LR is inserted through the horizontal guide portion 105LR. Thus, the horizontal guide portion 105LR prevents interference between the operation wire 300LR and other components such as the operation wire 300UD. The horizontal guide portion 105LR guides the operation wire 300LR so that the operation wire 300LR extends from the horizontal winding portion 853LR to the
rear surface 51 d on the side of the vertical rotary portion 85UD and intersects with the operation wire 300UD. - The horizontal guide portion 105LR is bent toward the XY plane, for example, from the YZ plane. Thus, the horizontal guide portion 105LR bends the operation wire 300LR so that the operation wire 300LR extended from the horizontal winding portion 853LR and disposed in the YZ plane is disposed in the XY plane toward the
rear surface 51 d. - The horizontal guide portion 105LR is, for example, a guide tube. The horizontal guide portion 105LR is made of a bendable soft material in the same manner as the vertical guide portion 105UD.
- The horizontal guide portion 105LR is disposed between the horizontal regulation portion 103LR and the
wire nozzle 151 which is held by the later-described holdingmember 161. The horizontal guide portion 105LR may be movable in the axial direction of the operation wire 300LR or may be fixed to the horizontal regulation portion 103LR. - The horizontal regulation portion 103LR and the horizontal guide portion 105LR are provided for one
end 300L of the operation wire 300LR and theother end 300R of the operation wire 300LR, respectively. - The
support member 107 supports the vertical regulation portion 103UD and the horizontal regulation portion 103LR so that the vertical regulation portion 103UD and the horizontal regulation portion 103LR are located in the vicinity of the vertical winding portion 853UD and the horizontal winding portion 853LR. Thesupport member 107 is fixed to theupper plate 59. - As shown in
FIG. 7 ,FIG. 8 , andFIG. 9 , the side of aproximal end 83 b of the drivingportion 83, therotary portion 85, the holdingportion 101, and the side of theproximal end 51 b of thebase plate 51 including theupper plate 59 are surrounded by aperipheral wall member 121 which is a first flange member. - A
second flange member 123 is disposed on anupper surface 121 a of theperipheral wall member 121. Thesecond flange member 123 has awall portion 123 a which is fitted into theperipheral wall member 121 as shown inFIG. 9 when thesecond flange member 123 is disposed on theupper surface 121 a. When fitted in, thewall portion 123 a adjoins thegroove 853 e, and functions as a prevention wall for preventing the operation wire 300UD from dropping from the vertical winding portion 853UD and preventing the operation wire 300LR from dropping from the horizontal winding portion 853LR. - Now, the operation wire 300UD and the operation wire 300LR in the
rear surface 51 d are described with reference toFIG. 14 ,FIG. 15 , andFIG. 16 . As the operation wire 300UD and the operation wire 300LR have the same structure, the operation wire 300UD is described by way of example. - As shown in
FIG. 14 andFIG. 15 , thewire nozzle 151, the urgingmember 153, thecoupling member 155, and thedrop prevention member 157 are disposed at oneend 300U of the operation wire 300UD from the side of theother end 300D to the side of oneend 300U. The operation wire 300UD is inserted through thewire nozzle 151, the urgingmember 153, and thecoupling member 155. Thewire nozzle 151, the urgingmember 153, and thecoupling member 155 are movable in the longitudinal direction of the operation wire 300UD, and thedrop prevention member 157 is fixed to oneend 300U. Awire nozzle 151, an urgingmember 153, acoupling member 155, and adrop prevention member 157 that are similar to those described above are also disposed on theother end 300D, as shown inFIG. 16 . - As shown in
FIG. 4 ,FIG. 5 ,FIG. 6 , andFIG. 15 , thewire nozzle 151 is held and positioned by the holdingmember 161. Thus, thewire nozzle 151 prevents the relaxation and meandering of the operation wire 300UD extended from the holdingportion 101, and keeps the operation wire 300UD pulled toward theinsertion portion 10. Moreover, thewire nozzle 151 regulates the traction direction of the operation wire 300UD in therear surface 51 d so that the traction direction of the operation wire 300UD in therear surface 51 d extends along the X-axis direction. The hardness of thewire nozzle 151 is higher than the hardness of the operation wire 300UD in order to prevent the abrasion of the operation wire 300UD caused by thewire nozzle 151. - The
wire nozzle 151 through which the operation wire 300UD is inserted is positioned by the holdingmember 161 such that the operation wire 300UD ranging from the holdingportion 101 to thewire nozzle 151 is pulled toward theinsertion portion 10 side without relaxation and meandering. - As shown in
FIG. 6 andFIG. 15 , oneend 161 a of the holdingmember 161 has a recessed cut-out 161 c into which thewire nozzle 151 is fitted. Oneend 161 a of the holdingmember 161 is disposed at theproximal end 55 b of therear surface 55 d to hold thewire nozzle 151. As shown inFIG. 2 , in order to position the holdingmember 161, theother end 161 b is inserted through thefront surface 51 c from therear surface 51 d via anopening 55 c provided in theproximal end 55 b, and folded in thefront surface 51 c. - The
wire nozzle 151 is fitted into the cut-out 161 c, and is thereby positioned in the X-axis direction and the Y-axis direction. As shown inFIG. 4 andFIG. 15 , aprevention plate 163 is disposed in therear surface 51 d to prevent thewire nozzle 151 from dropping from the cut-out 161 c in the Z-axis direction. Theprevention plate 163 is disposed along the Y-axis direction to cover the cut-out 161 c. As shown inFIG. 15 , apart 163 a substantially in the center of theprevention plate 163 in the Y-axis direction is folded in an L-shape toward therear surface 51 d, and is further folded in an L-shape to contact therear surface 51 d. Theprevention plate 163 is fixed by the fixingmember 65, for example, a screw in a foldedportion 163 b that contacts therear surface 51 d. The foldedportion 163 b extends along the X-axis direction, and is integrated with apartition plate 187 and apositioning plate 185 that will be described later. - The urging
member 153 is, for example, a coil spring, and winds the operation wire 300UD. At least one urgingmember 153 is disposed at the end of the operation wire 300UD. The urgingmember 153 is held between thewire nozzle 151 and thecoupling member 155. The urgingmember 153 urges thedrop prevention member 157 against thewire nozzle 151 toward oneend 300U via thecoupling member 155, thereby urging, toward theinsertion portion 10, the operation wire 300UD to which thedrop prevention member 157 is fixed, and bringing the operation wire 300UD into close contact with thegroove 853 e. As a result, the vertical winding portion 853UD is prevented from turning idly, and the driving force of the vertical driving portion 83UD is transmitted to the operation wire 300UD without being wasted. - It is to be noted that the bending load of the operation wire 300UD<the minimum load of the urging
member 153 and that the maximum load of the urgingmember 153≦the cutting strength of the operation wire 300UD/100. - It is also to be noted that the flexure length of the urging
member 153 the traction length of the operation wire 300UD×2. - The
drop prevention member 157 prevents thewire nozzle 151, the urgingmember 153, and thecoupling member 155 from dropping from the operation wire 300UD. - The
coupling member 155 couples, for example, oneend 300U of the operation wire 300UD to theoperation wire 400U. As shown inFIG. 17 , thecoupling member 155 is cylindrical. As shown inFIG. 17 , thedrop prevention member 157 fixed to oneend 300U of the operation wire 300UD is disposed in an (internal) bore 155 c of thecoupling member 155. - A flat end face 155 g formed substantially perpendicularly to the central axis direction of the
coupling member 155 from aperipheral surface 155 e is disposed at aproximal end 155 b of thecoupling member 155. Anopening 155 h through which the operation wire 300UD can be inserted is disposed in the end face 155 g. Theopening 155 h is coaxial with thebore 155 c, and theopening 155 h is smaller in diameter than thebore 155 c. The end face 155 g serves as a prevention surface for preventing thedrop prevention member 157 from coming out of thecoupling member 155, and prevents thecoupling member 155, thewire nozzle 151, and the urgingmember 153 from dropping from the operation wire 300UD. The end face 155 g is urged by the above-mentionedurging member 153. This urging force urges thedrop prevention member 157 in the end face 155 g toward theinsertion portion 10 via the end face 155 g. Thus, the urgingmember 153 urges the operation wire 300UD toward theinsertion portion 10 as described above. - Through-
bores 155 j which extend through thecoupling member 155 to reach the inside (thebore 155 c) are disposed in theperipheral surface 155 e of thecoupling member 155. The through-bores 155 j are disposed at substantially equal intervals in the circumferential direction. The through-bores 155 j are also disposed at equal intervals along the direction of the central axis of thecoupling member 155. A positioningmember 159 for positioning thedrop prevention member 157 at theproximal end 155 b is disposed in the through-bore 155 j disposed closest to theproximal end 155 b. - A
thread groove 155 m is formed in an outerperipheral surface 1551 at adistal end 155 a of thecoupling member 155. Alock member 171, for example a nut is locked to thethread groove 155 m. Thelock member 171 has, at itsdistal end 171 a, a flat end face 171 g formed substantially perpendicularly to the central axis direction of thecoupling member 155 from aperipheral surface 171 e. Anopening 171 h through which theoperation wire 400U can be inserted is disposed in the end face 171 g. Theopening 171 h is coaxial with thebore 155 c, and theopening 171 h is smaller in diameter than thebore 155 c. The end face 171 g serves as a prevention surface for preventing a coveringportion 167, adrop prevention member 169, and theoperation wire 400U that will be described later from dropping out of the coupling member 155 (thebore 155 c), and prevents theoperation wire 400U from dropping from thecoupling member 155. - A proximal end 400Ub of the
operation wire 400U is covered with the coveringportion 167. The coveringportion 167 is slightly greater than theopening 171 h. A recessedgroove 167 a is formed in the outer peripheral surface of the proximal end of the coveringportion 167. Thegroove 167 a is formed over the entire circumferential surface of the outer peripheral surface. - The C-shaped
drop prevention member 169 is fitted in the coveringportion 167. Specifically, a projectingportion 169 a is formed in the entire inner peripheral surface of thedrop prevention member 169, and the projectingportion 169 a is fitted into thegroove 167 a. The outside diameter of thedrop prevention member 169 is substantially the same as the diameter of thebore 155 c. - The
operation wire 400U including the coveringportion 167 and thedrop prevention member 169 is disposed in thebore 155 c. - An urging
member 175 for urging theoperation wire 400U toward theproximal end 155 b side of thecoupling member 155 via the coveringportion 167 and thedrop prevention member 169 is disposed between the end face 171 g of thelock member 171 and thedrop prevention member 169. The urgingmember 175 urges theoperation wire 400U toward theproximal end 155 b side of thecoupling member 155, and thereby prevents the loosening of theoperation wire 400U and stretches theoperation wire 400U. The urgingmember 175 winds theoperation wire 400U and the coveringportion 167, and is, for example, a coil spring. That is, the diameter of the urgingmember 175 is greater than the diameter of theoperation wire 400U and the diameter of the coveringportion 167, and is smaller than the diameter of thedrop prevention member 169. The urgingmember 153 is replaceable. - When the urging
member 175 urges theoperation wire 400U, apositioning member 177 for positioning theoperation wire 400U and others is disposed in the through-bore 155 j. The positioningmember 177 extends through the through-bore 155 j and thus presses thedrop prevention member 169, thereby positioning theoperation wire 400U and others. Thus, the positioning of theoperation wire 400U is adjusted in accordance with the position of the through-bore 155 j, and there is no need for such work as soldering. - The
coupling member 155 positions the drop prevention member 157 (the operation wire 300UD) by the positioningmember 159, and positions theoperation wire 400U by the positioningmember 177, thereby indirectly coupling the operation wire 300UD to theoperation wire 400U without, for example, soldering. - The allowable tension of the operation wires 300UD and 300LR is equal to or more than that of the
operation wires - The
other end 300D of the operation wire 300UD, oneend 300L of the operation wire 300LR, and theother end 300R of the operation wire 300LR are coupled to theoperation wires - As shown in
FIG. 15 , apartition plate 181 for preventing interference between theoperation wires end 300U of the operation wire 300UD and theother end 300D of the operation wire 300UD in the Y-axis direction. In therear surface 51 d, thepartition plate 181 is a long slope disposed along the X-axis direction. Apartition plate 183 similar in configuration to thepartition plate 181 is also disposed between oneend 300L of the operation wire 300LR and theother end 300R of the operation wire 300LR. - A
proximal end 181 b of thepartition plate 181 is folded in an L-shape with respect to the X-axis direction to be substantially parallel to the Y-axis direction. A cut-out 181 d into which thewire nozzle 151 is fitted is disposed in a foldedportion 181 c. Thewire nozzle 151 is fitted into the cut-out 161 c and the cut-out 181 d so that the foldedportion 181 c is in contact with the holdingmember 161. As a result, the shaking of theproximal end 181 b of thepartition plate 181 in the X-axis direction, the Y-axis direction, and the Z-axis direction is prevented, and theproximal end 181 b is positioned in the X-axis direction, the Y-axis direction, and the Z-axis direction. This holds true for the proximal end of thepartition plate 183. - A
distal end 181 a of thepartition plate 181 has aprotrusion 181 f protruding in the Z-axis direction. Thepositioning plate 185 having a cut-out 185 c is mounted on thedistal end 181 a of thepartition plate 181 and adistal end 183 a of thepartition plate 183. Theprotrusion 181 f in thepartition plate 181 and aprotrusion 183 f in thepartition plate 183 are fitted into the cut-out 185 c. Thepositioning plate 185 is mounted on the distal ends 181 a and 183 a along the Y-axis direction, and the cut-out 185 c is fitted to theprotrusions - In the same manner as the
prevention plate 163, apart 185 a substantially in the center of thepositioning plate 185 in the Y-axis direction is folded in an L-shape toward therear surface 51 d, and is further folded in an L-shape to contact therear surface 51 d. Thepositioning plate 185 is fixed by the fixingmember 65, for example, a screw in a foldedportion 185 b that contacts therear surface 51 d. - The
partition plate 187 is disposed between theother end 300D side of the operation wire 300UD and oneend 300L side of the operation wire 300LR in the Y-axis direction. Thepartition plate 187 is integrated with the prevention plate 163 (the foldedportion 163 b) and the positioning plate 185 (the foldedportion 185 b). - As shown in
FIG. 5 , awire nozzle 451 similar to thewire nozzle 151 is provided in theoperation wire 400U. In the same manner as thewire nozzle 151, thiswire nozzle 451 is held and positioned by a holdingmember 461 similar to the holdingmember 161. One end of the holdingmember 461 has a recessed cut-out 461 c into which thewire nozzle 451 is fitted. One end 461 a of the holdingmember 461 is disposed at thedistal end 55 a on the side of therear surface 51 d to hold thewire nozzle 451. As shown inFIG. 2 , in order to position the holdingmember 161, theother end 461 b is inserted through thefront surface 51 c from therear surface 51 d via theopening 55 c provided in thedistal end 55 a, and folded in thefront surface 51 c. - The
wire nozzle 451 is fitted into the cut-out 461 c, and is thereby prevented from shaking in the X-axis direction and the Y-axis direction and positioned in the X-axis direction and the Y-axis direction. Thewire nozzle 451 is also prevented from dropping in the Z-axis direction by thepositioning plate 185. - As shown in
FIG. 5 , theoperation wire 400U is inserted through acoil pipe 401, and thecoil pipe 401 prevents interference between theoperation wire 400U and other components. Theoperation wire 400U and thecoil pipe 401 are disposed in thecoupling member 155 via theopening 61 a and the cut-out 67 d. Theoperation wire 400U and thecoil pipe 401 are further disposed in thebody 31 and in theinsertion portion 10, and connected to the bendingportion 13. - The
operation wires operation wire 400U. - Now, an operation method according to the present embodiment is described.
- The operation wire 300UD is wound around the vertical rotary portion 85UD by the winding method described above, and extended from the vertical rotary portion 85UD. At the same time, the horizontal bearing 851LR and a wall portion 121 b prevents the operation wire 300UD from dropping. The operation wire 300UD is wound more than once by the
groove 853 e. - The extending direction of the operation wire 300UD is regulated by the vertical regulation portion 103UD so that the operation wire 300UD extends in the tangential direction of the vertical rotary portion 85UD tilted in the Y-axis direction. Since the vertical regulation portion 103UD is supported by the
support member 107, the movement of the extending direction of the operation wire 300UD is prevented. - The operation wire 300UD is further inserted through the vertical guide portion 105UD, and the vertical guide portion 105UD prevents interference between the operation wire 300UD and other components such as the operation wire 300LR. The operation wire 300UD is guided by the vertical guide portion 105UD so that the operation wire 300UD is bent toward the XY plane from the YZ plane and extended from the vertical rotary portion 85UD to the
rear surface 51 d where the horizontal rotary portion 85LR is disposed. - Thus, the length L4 is longer than the length L3, and the bending radius R4 in the length L4 is greater than the bending radius R3 in the length L3.
- Thus, even if the axial direction of the vertical driving portion 83UD and the longitudinal direction of the
insertion portion 10 are in the same direction, the operation wire 300UD is extended from the vertical rotary portion 85UD and then bent and connected to the bendingportion 13 via theoperation wires - As the part 853UDa of the vertical winding portion 853UD and the part 853LRa of the horizontal winding portion 853LR overlap each other in the insertion direction, the
bending mechanism 81 is reduced in size. - In the Y-axis direction, the vertical winding portion 853UD is adjacent to the horizontal bearing 851LR. Thus, the horizontal bearing 851LR prevents the operation wire 300UD from dropping from the
groove 853 e, and the operation wire 300UD is guided without dropping. - The operation wire 300UD is disposed in the
spiral groove 853 e, and is therefore wound therearound more than once. Therotary portion 85 is bigger than the drivingportion 83. This ensures a bending amount. Thegroove 853 e prevents the operation wire 300UD from being piled up on the outerperipheral surface 853 d in the Z-axis direction and the X-axis direction. - While the operation wire 300UD has been described above, the same applies to the operation wire 300LR.
- As described above, according to the present embodiment, the longitudinal direction of the
insertion portion 10, the longitudinal direction of the vertical operation wire 500UD, the longitudinal direction of the horizontal operation wire 500LR, the axial direction of the drivingportion 83, and the axial direction of therotary portion 85 are in the same direction. Thus, thebending mechanism 81 can be smaller than when the axial direction of the drivingportion 83 is perpendicular to the longitudinal direction of theinsertion portion 10. - Furthermore, the operation wire 300UD and the operation wire 300LR are held by the holding
portion 101 so that the operation wire 300UD extends from the vertical rotary portion 85UD to therear surface 51 d where the horizontal rotary portion 85LR is disposed and so that the operation wire 300LR extends from the horizontal rotary portion 85LR to therear surface 51 d on the side of the vertical rotary portion 85UD and further intersects with the operation wire 300UD when the operation wires 300UD and 300LR extending from therotary portion 85 are bent toward therear surface 51 d. - Consequently, according to the present embodiment, the length L4 is longer than the length L3, and the bending radius R4 in the length L4 is greater than the bending radius R3 in the length L3, as shown in
FIG. 13 . Thus, according to the present embodiment, even if the operation wires 300UD and 300LR in thegrip portion 33 are pulled to bend the bendingportion 13, the load on the operation wires 300UD and 300LR is reduced, and the breakage of the operation wires 300UD and 300LR can be prevented. - According to the present embodiment, the part 853UDa of the vertical winding portion 853UD and the part 853LRa of the horizontal winding portion 853LR are disposed to overlap each other in the X-axis direction, so that the
bending mechanism 81 can be reduced in size. - According to the present embodiment, in the Y-axis direction, the vertical winding portion 853UD is adjacent to the horizontal bearing 851LR, and the horizontal winding portion 853LR is adjacent to the vertical bearing 851UD. Thus, the dropping of the operation wires 300UD and 300LR from the
groove 853 e can be prevented, and the operation wires 300UD and 300LR can be guided without dropping. - According to the present embodiment, the
spiral groove 853 e is formed. Thus, the operation wires 300UD and 300LR can be wound around the winding portions 853UD and 853LR more than once, and the traction amount of the operation wires 300UD and 300LR can be ensured, and the bending amount of the bendingportion 13 can be ensured. - According to the present embodiment, the
groove 853 e prevents the operation wires 300UD and 300LR from being piled up in the X-axis direction. Thus, according to the present embodiment, therotary portion 85 is prevented from turning idly. - According to the present embodiment, the
base plate 51 can be warped by the reinforcingmember 71, thebase plate 51 can be adapted to the shape of thegrip portion 33. - According to the present embodiment, the driving
portion 83 is surrounded by theside plates 57, theupper plate 59, thewall portion 63, and the reinforcingmember 71. This makes it possible to prevent the drivingportion 83 from dropping from thebase plate 51. - According to the present embodiment, the operation wires 300UD and 300LR are wound in an l-shape (γ-shape) in the bearings 851UD and 851LR and the winding portions 853UD and 853LR. This makes it possible to prevent the operation wires 300UD and 300LR from bending at an acute angle, prevent stress from concentrating on the edge of the opening 853 g, and prevent the breakage of the operation wires 300UD and 300LR. Moreover, according to the present embodiment, the
curved surface 853 h is formed in the opening 853 g so that the abrasion of the operation wires 300UD and 300LR can be reduced. - According to the present embodiment, the operation wires 300UD and 300LR are fixed to the bearings 851UD and 851LR not by, for example, solder but by the
fixing mechanism 857, and the operation wires 300UD and 300LR can therefore be easily replaced. - According to the present embodiment, when the operation wires 300UD and 300LR are wound around the rotary portions 85UD and 85LR, the variation in the assembling precision of the operation wires 300UD and 300LR can be prevented by disposing the
wire nozzle 151, the urgingmember 153, thecoupling member 155, and thedrop prevention member 157 in the operation wires 300UD and 300LR in advance. - According to the present embodiment, the relaxation and meandering of the operation wires 300UD and 300LR extended from the rotary portions 85UD and 85LR to the
wire nozzle 151 can be prevented by thewire nozzle 151 and the holdingmember 161, and the operation wires 300UD and 300LR can be pulled toward theinsertion portion 10. Further, according to the present embodiment, the traction direction of the operation wires 300UD and 300LR can be regulated by thewire nozzle 151. Still further, according to the present embodiment, thewire nozzle 151 is harder than the operation wires 300UD and 300LR, so that the abrasion of the operation wires 300UD and 300LR caused by thewire nozzle 151 can be prevented. - According to the present embodiment, the operation wires 300UD and 300LR are urged toward the
insertion portion 10 by the urgingmember 153. This makes it possible to bring the operation wires 300UD and 300LR into close contact with thegroove 853 e, and prevent the winding portions 853UD and 853LR from turning idly. Thus, the driving force of the drivingportion 83 can be transmitted to the operation wires 300UD and 300LR without being wasted. - According to the present embodiment, the operation wires 300UD and 300LR can be easily and quickly coupled to the
operation wires coupling member 155 without, for example, soldering. - According to the present embodiment, as the urging
member 175 is replaceable, theoperation wires - According to the present embodiment, the allowable tension of the operation wires 300UD and 300LR is equal to or more than that of the
operation wires - According to the present embodiment, interference between the
operation wires partition plates partition plates member 161, thewire nozzle 151, theprevention plate 163, theprotrusion 181 f, and thepositioning plate 185. - According to the present embodiment, the wall portion 121 b can prevent the operation wires 300UD and 300LR from dropping from the winding portions 853UD and 853LR.
- According to the present embodiment, when the bending
portion 13 only bends, for example, in the vertical direction, thebending mechanism 81 comprises the vertical driving portion 83UD, the vertical rotary portion 85UD, and the vertical operation wire 500UD. In this case, the holdingportion 101 has only to hold the operation wire 300UD extended from the vertical rotary portion 85UD so that oneend 300U of the operation wire 300UD and theother end 300D thereof intersect with each other when the vertical operation wire 500UD (300UD) extends toward therear surface 51 d. Moreover, in this case, the holdingportion 101 holds the operation wire 300UD so that the operation wire 300UD is extended from the vertical winding portion 853UD in a direction tilted in the Z(Y)-axis direction and so that the operation wire 300UD is extended to therear surface 51 d disposed on the side to be tilted in the Z(Y)-axis direction. - The
bending mechanism 81 according to the present embodiment may also be used in anelectric bending sheath 2 shown inFIG. 18 that is substantially similar in configuration to the above-mentionedendoscope 1. In this case, an endoscopic treatment tool 600 comprises a treatment portion 601 which treats an affected part and which is fitted into thedistal opening 31 c, awire 603 which is coupled to a proximal end 601 b of the treatment portion 601 and which is inserted from thedistal opening 31 c and removed from the treatmenttool insertion hole 31 a through the treatmenttool insertion channel 31 b, and anoperation portion 605 which operates the treatment portion 601 and which is removably connected to a proximal end 603 b of thewire 603 removed from the treatmenttool insertion hole 31 a. - The treatment portion 601 is, for example, an open-shut grip forceps shown in
FIG. 18 andFIG. 19 , or is a hook knife shown inFIG. 20 or an unshown IT knife. As shown inFIG. 19 , the treatment portion 601 and the distalhard portion 11 have indexes 611 that indicate the fitting position of the treatment portion 601 for fitting the treatment portion 601 into thedistal opening 31 c. - Thus, according to the present embodiment, the common
electric bending sheath 2 can be used for various endoscopic treatment tools 600, so that costs can be reduced. Moreover, according to the present embodiment, thewire 603 for coupling the treatment portion 601 to theoperation portion 605 is only disposed in the treatmenttool insertion channel 31 b. Therefore, according to the present embodiment, the treatmenttool insertion channel 31 b can be smaller in diameter than when the whole endoscopic treatment tool 600 is inserted through the treatmenttool insertion channel 31 b. As a result, theelectric bending sheath 2 can be reduced in diameter. - According to the present embodiment, the treatment portion 601 is fitted in the
distal opening 31 c. Therefore, if theelectric bending sheath 2 is circumferentially rotated, the treatment portion 601 can be rotated, and the operability of the treatment portion 601 can be improved. Moreover, according to the present embodiment, as shown inFIG. 21 , it is possible to operate theoperation portion 605 while gripping thegrip portion 33, so that the operability can be improved. - According to the present embodiment, after use, the treatment portion 601 is removed from the
distal opening 31 c, the endoscopic treatment tool 600 alone is disposed of, and theelectric bending sheath 2 is cleaned. As a result, theelectric bending sheath 2 can be reused. - According to the present embodiment, the treatment portion 601 can be easily positioned by the indexes 611 and thus fitted into the
distal opening 31 c. - When the
electric bending sheath 2 comprises an unshown imaging unit, the treatment portion 601 protruding from thedistal opening 31 c may have indexes which indicate the vertical and horizontal positions and which are imaged by the imaging unit. The indexes are disposed in the vertical and horizontal positions of the treatment portion 601, and indicate the upper side, the lower side, the left side, and the right side. Thus, according to the present embodiment, the bending direction of theelectric bending sheath 2 can be easily recognized by checking the indexes imaged by the imaging unit. - Although the
bending operation portion 33 c is, for example, the TACT switch in the present embodiment, the bendingoperation portion 33 c is not limited thereto. As shown inFIG. 22 , the bendingoperation portion 33 c may be, for example, a joystick. - The present invention is not completely limited to the embodiment described above, and the components can be modified at the stage of carrying out the invention without departing from the spirit thereof. Various inventions can be produced by properly combining the components disclosed in the embodiment described above.
- Additional advantages and modifications will readily occur to those skilled in the art. Therefore, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described herein. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents.
Claims (7)
Applications Claiming Priority (3)
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JP2010-170988 | 2010-07-29 | ||
JP2010170988 | 2010-07-29 | ||
PCT/JP2011/058100 WO2012014528A1 (en) | 2010-07-29 | 2011-03-30 | Bending mechanism |
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Application Number | Title | Priority Date | Filing Date |
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PCT/JP2011/058100 Continuation WO2012014528A1 (en) | 2010-07-29 | 2011-03-30 | Bending mechanism |
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US20120078054A1 true US20120078054A1 (en) | 2012-03-29 |
US8613700B2 US8613700B2 (en) | 2013-12-24 |
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US (1) | US8613700B2 (en) |
EP (1) | EP2436299B1 (en) |
JP (1) | JP4880102B1 (en) |
CN (1) | CN102469919B (en) |
WO (1) | WO2012014528A1 (en) |
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US20140359972A1 (en) * | 2013-02-07 | 2014-12-11 | Olympus Medical Systems Corp. | Endoscope operation portion structure |
US20170265719A1 (en) * | 2014-12-03 | 2017-09-21 | Olympus Corporation | Endoscope |
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US7335180B2 (en) | 2003-11-24 | 2008-02-26 | Flowcardia, Inc. | Steerable ultrasound catheter |
US7758510B2 (en) | 2003-09-19 | 2010-07-20 | Flowcardia, Inc. | Connector for securing ultrasound catheter to transducer |
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WO2015125334A1 (en) * | 2014-02-18 | 2015-08-27 | オリンパス株式会社 | Endoscope curved tube |
EP3114981A4 (en) * | 2014-03-04 | 2018-03-28 | Olympus Corporation | Insertion instrument |
CN106175652B (en) * | 2015-05-27 | 2020-06-26 | 富士胶片株式会社 | Endoscope and wire guide fixing device |
EP3184024B1 (en) * | 2015-06-02 | 2018-07-18 | Youcare Technology Co., Ltd. (WUHAN) | Endoscope capable of turning in multiple directions |
WO2017090533A1 (en) * | 2015-11-27 | 2017-06-01 | オリンパス株式会社 | Operating mechanism for endoscope, and endoscope |
JP6713285B2 (en) * | 2016-01-18 | 2020-06-24 | オリンパス株式会社 | Endoscope |
CN106419818B (en) * | 2016-08-29 | 2018-04-27 | 顺康(杭州)科学仪器有限公司 | A kind of endoscope of adjustable angle |
CN109963491A (en) * | 2016-09-23 | 2019-07-02 | 塞弗维医疗有限责任公司 | Device and method for internal imaging |
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- 2011-03-30 CN CN201180003022.8A patent/CN102469919B/en not_active Expired - Fee Related
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Also Published As
Publication number | Publication date |
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US8613700B2 (en) | 2013-12-24 |
JP4880102B1 (en) | 2012-02-22 |
CN102469919A (en) | 2012-05-23 |
JPWO2012014528A1 (en) | 2016-05-26 |
EP2436299A4 (en) | 2012-05-09 |
EP2436299B1 (en) | 2013-09-11 |
WO2012014528A1 (en) | 2012-02-02 |
CN102469919B (en) | 2014-07-09 |
EP2436299A1 (en) | 2012-04-04 |
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